Object: 0x1000 Device Type
Object Code	Variable
Description	This object shall provide information about the device type. The object describes the type of the logical device and its functionality. It shall be composed of a 16-bit field that describes the device profile or the application profile that is used and a second 16-bit field, which gives additional information about optional functionality of the logical device. The additional information parameter is device profile specific and application profile specific. Its specification does not fall within the scope of this specification; it is defined in the appropriate device profile and application profile.

Sub	0x00
Name	Device Type
Data Type	UNSIGNED32
Access	ro
Defaultvalue	0xFFF192
Low Limit	0
High Limit	4294967295
PDO Mapping	no

---

Object: 0x1001 Error Register
Object Code	Variable
Description	This object shall provide error information. The CANopen device maps internal errors into this object. It is a part of an emergency object. If a specific error occurs the corresponding bit shall be set to 1b. The generic error bit shall be supported. The other bits may be supported. The generic error shall be signaled at any error situation.

Sub	0x00
Name	Error Register
Data Type	UNSIGNED8
Access	ro
Defaultvalue	0
Low Limit	0
High Limit	255
PDO Mapping	optional, TPDO only

---

Object: 0x1002 Manufacturer status register
Object Code	Variable
Description	This object shall provide a common status register for manufacturer-specific purposes. In this specification only the size and the location of this object are defined.

Sub	0x00
Name	Manufacturer status register
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	optional

---

Object: 0x1003 Pre defined error field
Object Code	Array
Description	This object shall provide the errors that occurred on the CANopen device and were signaled via the emergency object. In doing so it provides an error history. VALUE DEFINITION The object entry at sub-index 00h shall contain the number of actual errors that are recorded in the array starting at sub-index 01h. NOTE: If no error is present the value of sub-index 00h is 00h and a read access to sub-index 01h is responded with an SDO abort message (abort code: 0800 0024h or 0800 0000h). Every new error shall be stored at sub-index 01h; older errors shall be moved to the next higher sub-index. Writing 00h to sub-index 00h shall delete the entire error history (empties the array). Other values than 00h are not allowed and shall lead to an abort message (error code: 0609 0030h). The error numbers are of type UNSIGNED32 (see Table 26) and are composed of a 16-bit error code and a 16-bit additional error information field, which is manufacturer-specific. The error code shall be contained in the lower 2 bytes (LSB) and the additional information shall be included in the upper 2 bytes (MSB). If this object is supported it shall consist of two object entries at least. The length entry on sub-index 00h and at least one error entry at sub-index 01h.

Sub	0x00
Name	Number of errors
Data Type	UNSIGNED8
Access	rw
Defaultvalue	0x00
PDO Mapping	no

Sub	0x01
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x02
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x03
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x04
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x05
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x06
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x07
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x08
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x09
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x0a
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x0b
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x0c
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x0d
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x0e
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x0f
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x10
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x11
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x12
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x13
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x14
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x15
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x16
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x17
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x18
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x19
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x1a
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x1b
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x1c
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x1d
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x1e
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x1f
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x20
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x21
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x22
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x23
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x24
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x25
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x26
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x27
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x28
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x29
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x2a
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x2b
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x2c
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x2d
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x2e
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x2f
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x30
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x31
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x32
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x33
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x34
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x35
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x36
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x37
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x38
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x39
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x3a
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x3b
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x3c
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x3d
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x3e
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x3f
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x40
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x41
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x42
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x43
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x44
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x45
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x46
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x47
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x48
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x49
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x4a
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x4b
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x4c
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x4d
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x4e
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x4f
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x50
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x51
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x52
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x53
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x54
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x55
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x56
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x57
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x58
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x59
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x5a
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x5b
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x5c
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x5d
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x5e
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x5f
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x60
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x61
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x62
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x63
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x64
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x65
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x66
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x67
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x68
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x69
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x6a
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x6b
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x6c
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x6d
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x6e
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x6f
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x70
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x71
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x72
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x73
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x74
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x75
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x76
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x77
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x78
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x79
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x7a
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x7b
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x7c
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x7d
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x7e
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x7f
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x80
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x81
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x82
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x83
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x84
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x85
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x86
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x87
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x88
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x89
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x8a
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x8b
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x8c
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x8d
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x8e
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x8f
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x90
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x91
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x92
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x93
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x94
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x95
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x96
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x97
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x98
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x99
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x9a
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x9b
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x9c
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x9d
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x9e
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0x9f
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xa0
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xa1
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xa2
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xa3
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xa4
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xa5
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xa6
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xa7
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xa8
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xa9
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xaa
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xab
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xac
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xad
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xae
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xaf
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xb0
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xb1
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xb2
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xb3
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xb4
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xb5
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xb6
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xb7
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xb8
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xb9
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xba
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xbb
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xbc
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xbd
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xbe
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xbf
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xc0
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xc1
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xc2
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xc3
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xc4
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xc5
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xc6
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xc7
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xc8
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xc9
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xca
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xcb
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xcc
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xcd
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xce
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xcf
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xd0
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xd1
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xd2
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xd3
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xd4
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xd5
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xd6
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xd7
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xd8
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xd9
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xda
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xdb
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xdc
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xdd
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xde
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xdf
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xe0
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xe1
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xe2
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xe3
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xe4
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xe5
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xe6
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xe7
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xe8
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xe9
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xea
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xeb
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xec
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xed
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xee
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xef
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xf0
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xf1
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xf2
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xf3
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xf4
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xf5
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xf6
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xf7
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xf8
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xf9
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xfa
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xfb
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xfc
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xfd
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

Sub	0xfe
Name	Standard error field
Data Type	UNSIGNED32
Access	ro
Defaultvalue
PDO Mapping	no

---

Object: 0x1005 COB ID SYNC message
Object Code	Variable
Description	This object shall indicate the configured COB-ID of the synchronization object (SYNC). Further, it defines whether the CANopen device generates the SYNC.

Sub	0x00
Name	COB ID SYNC message
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x00000080
Low Limit	128
High Limit	4294967295
PDO Mapping	no

---

Object: 0x1008 Manufacturer device name
Object Code	Variable
Description	This object shall provide the name of the device as given by the manufacturer

Sub	0x00
Name	Manufacturer device name
Data Type	VISIBLE_STRING
Access	const
Defaultvalue	EZ-Wheel
PDO Mapping	no

---

Object: 0x1009 Manufacturer hardware version
Object Code	Variable
Description	This object shall provide the manufacturer hardware version description.

Sub	0x00
Name	Manufacturer hardware version
Data Type	VISIBLE_STRING
Access	const
Defaultvalue
PDO Mapping	no

---

Object: 0x100a Manufacturer software version
Object Code	Variable
Description	This object shall provide the manufacturer software version description.

Sub	0x00
Name	Manufacturer software version
Data Type	VISIBLE_STRING
Access	const
Defaultvalue
PDO Mapping	no

---

Object: 0x1010 Store Parameters
Object Code	Array
Description	This object shall control the saving of parameters in non-volatile memory.

Sub	0x00
Name	Number of entries
Data Type	UNSIGNED8
Access	const
Defaultvalue	7
Low Limit	1
High Limit	127
PDO Mapping	no

Sub	0x01
Name	Save all Parameters
Data Type	UNSIGNED32
Access	rw
Defaultvalue
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x02
Name	Save Communication Parameters
Data Type	UNSIGNED32
Access	rw
Defaultvalue
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x03
Name	Save Application Parameters
Data Type	UNSIGNED32
Access	rw
Defaultvalue
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x04
Name	Save Manufacturer Parameters
Data Type	UNSIGNED32
Access	rw
Defaultvalue
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x05
Name	Save LSS Parameters
Data Type	UNSIGNED32
Access	rw
Defaultvalue
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x06
Name	Save Motor Calibration And Internal Parameters
Data Type	UNSIGNED32
Access	rw
Defaultvalue
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x07
Name	Save Test Results
Data Type	UNSIGNED32
Access	rw
Defaultvalue
Low Limit	0
High Limit	4294967295
PDO Mapping	no

---

Object: 0x1011 Restore Default Parameters
Object Code	Array
Description	With this object the default values of parameters according to the communication profile, device profile, and application profile are restored.

Sub	0x00
Name	Number of entries
Data Type	UNSIGNED8
Access	const
Defaultvalue	7
Low Limit	1
High Limit	127
PDO Mapping	no

Sub	0x01
Name	Restore all Default Parameters
Data Type	UNSIGNED32
Access	rw
Defaultvalue
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x02
Name	Restore Communication Default Parameters
Data Type	UNSIGNED32
Access	rw
Defaultvalue
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x03
Name	Restore Application Default Parameters
Data Type	UNSIGNED32
Access	rw
Defaultvalue
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x04
Name	Restore Manufacturer Parameters
Data Type	UNSIGNED32
Access	rw
Defaultvalue
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x05
Name	Restore LSS Parameters
Data Type	UNSIGNED32
Access	rw
Defaultvalue
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x06
Name	Restore Motor Calibration And Internal Parameters
Data Type	UNSIGNED32
Access	rw
Defaultvalue
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x07
Name	Restore Test Results
Data Type	UNSIGNED32
Access	rw
Defaultvalue
Low Limit	0
High Limit	4294967295
PDO Mapping	no

---

Object: 0x1014 COB-ID EMCY message
Object Code	Variable
Description	This object shall indicate the configured COB-ID for the EMCY write service.

Sub	0x00
Name	COB-ID EMCY message
Data Type	UNSIGNED32
Access	rw
Defaultvalue	$NODEID+0x00000080
PDO Mapping	no

---

Object: 0x1017 Producer Heartbeat Time
Object Code	Variable
Description	The producer heartbeat time shall indicate the configured cycle time of the heartbeat produced by the device. The value shall be given in multiples of 1 ms. The value 0 shall disable the producer heartbeat.

Sub	0x00
Name	Producer Heartbeat Time
Data Type	UNSIGNED16
Access	rw
Defaultvalue	500
Low Limit	0
High Limit	65535
PDO Mapping	no

---

Object: 0x1018 Identity Object
Object Code	Record
Description	This object shall provide general identification information of the CANopen device.

Sub	0x00
Name	Number of entries
Data Type	UNSIGNED8
Access	const
Defaultvalue	4
Low Limit	1
High Limit	4
PDO Mapping	no

Sub	0x01
Name	Vendor Id
Data Type	UNSIGNED32
Access	ro
Defaultvalue	0x00000515
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x02
Name	Product Code
Data Type	UNSIGNED32
Access	ro
Low Limit	0
High Limit	4294967295
Description	This object indicates the product ID of the SWD. When 0, no product ID was found in the product, else: ezSWDcore.0/C 1 ezSWDcore.4/C 2 ezSWDcore.14/C 3 ezSWDcore.25/C 4 ezSWDcore.50/C 5 ezSWDcore.100/C 6 ezSWD125IM.4/C 7 ezSWD125IM.4/C_PRO 8 ezSWD125IM.14/C 9 ezSWD125IM.25/C 10 ezSWDcore.0B/C 11 ezSWDcore.4B/C 12 ezSWDcore.14B/C 13 ezSWDcore.25B/C 14 ezSWDcore.50B/C 15 ezSWDcore.100B/C 16 ezSWD125IM.4B/C 17 ezSWD125IM.14B/C 18 ezSWD125IM.25B/C 19 ezSWD150IH.14/C-0 20 ezSWD150IH.25/C-0 21 ezSWD150IH.14/C-1 22 ezSWD150IH.25/C-1 23 ezSWD150IH.14B/C-0 24 ezSWD150IH.25B/C-0 25 ezSWD150IH.14B/C-1 26 ezSWD150IH.25B/C-1 27 ezSWD200IH.14/C-0 28 ezSWD200IH.25/C-0 29 ezSWD200IH.14/C-1 30 ezSWD200IH.25/C-1 31 ezSWD200IH.14B/C-0 32 ezSWD200IH.25B/C-0 33 ezSWD200IH.14B/C-1 34 ezSWD200IH.25B/C-1 35 E_202777_SMC_GM 36 E_202727_SMC_GN2 37
PDO Mapping	no

Sub	0x03
Name	Revision number
Data Type	UNSIGNED32
Access	ro
Defaultvalue	0x00020000
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x04
Name	Serial number
Data Type	UNSIGNED32
Access	ro
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

---

Object: 0x1029 Error behaviour
Object Code	Array
Description	If a serious CANopen device failure is detected in NMT state Operational, the CANopen device shall enter by default autonomously the NMT state Pre-operational. If the object is implemented, the CANopen device is configurable to enter alternatively the NMT state Stopped or remain in the current NMT state. CANopen device failures shall include the following communication errors: • Bus-off conditions of the CAN interface • Life guarding event with the state ‘occurred’ and the reason time out • Heartbeat event with state ‘occurred’ and the reason "time out" Severe CANopen device errors also may be caused by CANopen device internal failures.

Sub	0x00
Name	error_behaviour_highest_sub_index
Data Type	UNSIGNED8
Access	const
Defaultvalue	3
Low Limit	0
High Limit	254
PDO Mapping	no

Sub	0x01
Name	error_behaviour_communication_error
Data Type	UNSIGNED8
Access	rw
Low Limit	0
High Limit	255
PDO Mapping	no

Sub	0x02
Name	error_behaviour_syserr_for_error
Data Type	UNSIGNED8
Access	rw
Low Limit	0
High Limit	255
PDO Mapping	no

Sub	0x03
Name	error_behaviour_syserr_for_warning
Data Type	UNSIGNED8
Access	rw
Low Limit	0
High Limit	255
PDO Mapping	no

---

Object: 0x1200 SDO 1 server parameter
Object Code	Record
Description	In order to describe the SDOs used on a CANopen device the data type SDO Parameter is introduced. The data type has the index 22h in the object dictionary.

Sub	0x00
Name	Highest sub index supported
Data Type	UNSIGNED8
Access	const
Defaultvalue	2
Low Limit	0
High Limit	2
PDO Mapping	no

Sub	0x01
Name	COB ID client to server
Data Type	UNSIGNED32
Access	const
Defaultvalue	$NODEID+0x600
Low Limit	1536
High Limit	1663
PDO Mapping	no

Sub	0x02
Name	COB ID server to client
Data Type	UNSIGNED32
Access	ro
Defaultvalue	$NODEID+0x580
Low Limit	1408
High Limit	1535
PDO Mapping	no

---

Object: 0x1201 SDO 2 server parameter
Object Code	Record
Description	In order to describe the SDOs used on a CANopen device the data type SDO Parameter is introduced. The data type has the index 22h in the object dictionary.

Sub	0x00
Name	Highest sub index supported
Data Type	UNSIGNED8
Access	const
Defaultvalue	2
Low Limit	0
High Limit	2
PDO Mapping	no

Sub	0x01
Name	COB ID client to server
Data Type	UNSIGNED32
Access	const
Defaultvalue	0x80000000
PDO Mapping	no

Sub	0x02
Name	COB ID server to client
Data Type	UNSIGNED32
Access	ro
Defaultvalue	0x80000000
PDO Mapping	no

---

Object: 0x1202 SDO 3 server parameter
Object Code	Record
Description	In order to describe the SDOs used on a CANopen device the data type SDO Parameter is introduced. The data type has the index 22h in the object dictionary.

Sub	0x00
Name	Highest sub index supported
Data Type	UNSIGNED8
Access	const
Defaultvalue	2
Low Limit	0
High Limit	2
PDO Mapping	no

Sub	0x01
Name	COB ID client to server
Data Type	UNSIGNED32
Access	const
Defaultvalue	0x80000000
PDO Mapping	no

Sub	0x02
Name	COB ID server to client
Data Type	UNSIGNED32
Access	ro
Defaultvalue	0x80000000
PDO Mapping	no

---

Object: 0x1203 SDO 4 server parameter
Object Code	Record
Description	In order to describe the SDOs used on a CANopen device the data type SDO Parameter is introduced. The data type has the index 22h in the object dictionary.

Sub	0x00
Name	Highest sub index supported
Data Type	UNSIGNED8
Access	const
Defaultvalue	2
Low Limit	0
High Limit	2
PDO Mapping	no

Sub	0x01
Name	COB ID client to server
Data Type	UNSIGNED32
Access	const
Defaultvalue	0x80000000
PDO Mapping	no

Sub	0x02
Name	COB ID server to client
Data Type	UNSIGNED32
Access	ro
Defaultvalue	0x80000000
PDO Mapping	no

---

Object: 0x1301 SRDO 1 communication parameter
Object Code	Record
Description	These objects shall contain the communication parameters for the SRDOs the device is able to receive or to transmit.

Sub	0x00
Name	Highest sub index supported
Data Type	UNSIGNED8
Access	ro
Defaultvalue	0x06
Low Limit	6
High Limit	6
PDO Mapping	no

Sub	0x01
Name	Information direction
Data Type	UNSIGNED8
Access	rw
Defaultvalue	0x02
Low Limit	0
High Limit	2
PDO Mapping	no

Sub	0x02
Name	tx_refresh time rx_SCT
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0x32
Low Limit	1
High Limit	65535
PDO Mapping	no

Sub	0x03
Name	tx_reserved rx_SRVT
Data Type	UNSIGNED8
Access	rw
Defaultvalue	0x14
Low Limit	1
High Limit	255
PDO Mapping	no

Sub	0x04
Name	Transmission type
Data Type	UNSIGNED8
Access	rw
Defaultvalue	0xFE
Low Limit	254
High Limit	254
PDO Mapping	no

Sub	0x05
Name	COB ID 1
Data Type	UNSIGNED32
Access	rw
Defaultvalue	(($NODEID)*2)+0xff
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x06
Name	COB ID 2
Data Type	UNSIGNED32
Access	rw
Defaultvalue	(($NODEID)*2)+0x100
Low Limit	0
High Limit	4294967295
PDO Mapping	no

---

Object: 0x1302 SRDO 2 communication parameter
Object Code	Record
Description	These objects shall contain the communication parameters for the SRDOs the device is able to receive or to transmit.

Sub	0x00
Name	Highest sub index supported
Data Type	UNSIGNED8
Access	ro
Defaultvalue	0x06
Low Limit	6
High Limit	6
PDO Mapping	no

Sub	0x01
Name	Information direction
Data Type	UNSIGNED8
Access	rw
Defaultvalue	0x01
Low Limit	0
High Limit	2
PDO Mapping	no

Sub	0x02
Name	tx_refresh time rx_SCT
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0x19
Low Limit	1
High Limit	65535
PDO Mapping	no

Sub	0x03
Name	tx_reserved rx_SRVT
Data Type	UNSIGNED8
Access	rw
Defaultvalue	0x14
Low Limit	0
High Limit	255
PDO Mapping	no

Sub	0x04
Name	Transmission type
Data Type	UNSIGNED8
Access	rw
Defaultvalue	0xFE
Low Limit	254
High Limit	254
PDO Mapping	no

Sub	0x05
Name	COB ID 1
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x103
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x06
Name	COB ID 2
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x104
Low Limit	0
High Limit	4294967295
PDO Mapping	no

---

Object: 0x1309 SRDO 9 communication parameter
Object Code	Record
Description	These objects shall contain the communication parameters for the SRDOs the device is able to receive or to transmit.

Sub	0x00
Name	Highest sub index supported
Data Type	UNSIGNED8
Access	ro
Defaultvalue	0x06
Low Limit	6
High Limit	6
PDO Mapping	no

Sub	0x01
Name	Information direction
Data Type	UNSIGNED8
Access	rw
Defaultvalue	0x00
Low Limit	0
High Limit	2
PDO Mapping	no

Sub	0x02
Name	tx_refresh time rx_SCT
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0x32
Low Limit	0
High Limit	65535
PDO Mapping	no

Sub	0x03
Name	tx_reserved rx_SRVT
Data Type	UNSIGNED8
Access	rw
Defaultvalue	0x14
Low Limit	0
High Limit	255
PDO Mapping	no

Sub	0x04
Name	Transmission type
Data Type	UNSIGNED8
Access	rw
Defaultvalue	0xFE
Low Limit	0
High Limit	255
PDO Mapping	no

Sub	0x05
Name	COB ID 1
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x105
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x06
Name	COB ID 2
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x106
Low Limit	0
High Limit	4294967295
PDO Mapping	no

---

Object: 0x130a SRDO 10 communication parameter
Object Code	Record
Description	These objects shall contain the communication parameters for the SRDOs the device is able to receive or to transmit.

Sub	0x00
Name	Highest sub index supported
Data Type	UNSIGNED8
Access	ro
Defaultvalue	0x06
Low Limit	6
High Limit	6
PDO Mapping	no

Sub	0x01
Name	Information direction
Data Type	UNSIGNED8
Access	rw
Defaultvalue	0x00
Low Limit	0
High Limit	2
PDO Mapping	no

Sub	0x02
Name	tx_refresh time rx_SCT
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0x19
Low Limit	0
High Limit	65535
PDO Mapping	no

Sub	0x03
Name	tx_reserved rx_SRVT
Data Type	UNSIGNED8
Access	rw
Defaultvalue	0x14
Low Limit	0
High Limit	255
PDO Mapping	no

Sub	0x04
Name	Transmission type
Data Type	UNSIGNED8
Access	rw
Defaultvalue	0xFE
Low Limit	0
High Limit	255
PDO Mapping	no

Sub	0x05
Name	COB ID 1
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x107
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x06
Name	COB ID 2
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x108
Low Limit	0
High Limit	4294967295
PDO Mapping	no

---

Object: 0x130b SRDO 11 communication parameter
Object Code	Record
Description	These objects shall contain the communication parameters for the SRDOs the device is able to receive or to transmit.

Sub	0x00
Name	Highest sub index supported
Data Type	UNSIGNED8
Access	ro
Defaultvalue	0x06
Low Limit	6
High Limit	6
PDO Mapping	no

Sub	0x01
Name	Information direction
Data Type	UNSIGNED8
Access	rw
Defaultvalue	0x00
Low Limit	0
High Limit	2
PDO Mapping	no

Sub	0x02
Name	tx_refresh time rx_SCT
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0x32
Low Limit	0
High Limit	65535
PDO Mapping	no

Sub	0x03
Name	tx_reserved rx_SRVT
Data Type	UNSIGNED8
Access	rw
Defaultvalue	0x14
Low Limit	0
High Limit	255
PDO Mapping	no

Sub	0x04
Name	Transmission type
Data Type	UNSIGNED8
Access	rw
Defaultvalue	0xFE
Low Limit	0
High Limit	255
PDO Mapping	no

Sub	0x05
Name	COB ID 1
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x109
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x06
Name	COB ID 2
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x10A
Low Limit	0
High Limit	4294967295
PDO Mapping	no

---

Object: 0x130c SRDO 12 communication parameter
Object Code	Record
Description	These objects shall contain the communication parameters for the SRDOs the device is able to receive or to transmit.

Sub	0x00
Name	Highest sub index supported
Data Type	UNSIGNED8
Access	ro
Defaultvalue	0x06
Low Limit	6
High Limit	6
PDO Mapping	no

Sub	0x01
Name	Information direction
Data Type	UNSIGNED8
Access	rw
Defaultvalue	0x00
Low Limit	0
High Limit	2
PDO Mapping	no

Sub	0x02
Name	tx_refresh time rx_SCT
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0x32
Low Limit	0
High Limit	65535
PDO Mapping	no

Sub	0x03
Name	tx_reserved rx_SRVT
Data Type	UNSIGNED8
Access	rw
Defaultvalue	0x14
Low Limit	0
High Limit	255
PDO Mapping	no

Sub	0x04
Name	Transmission type
Data Type	UNSIGNED8
Access	rw
Defaultvalue	0xFE
Low Limit	0
High Limit	255
PDO Mapping	no

Sub	0x05
Name	COB ID 1
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x10B
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x06
Name	COB ID 2
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x10C
Low Limit	0
High Limit	4294967295
PDO Mapping	no

---

Object: 0x130d SRDO 13 communication parameter
Object Code	Record
Description	These objects shall contain the communication parameters for the SRDOs the device is able to receive or to transmit.

Sub	0x00
Name	Highest sub index supported
Data Type	UNSIGNED8
Access	ro
Defaultvalue	0x06
Low Limit	6
High Limit	6
PDO Mapping	no

Sub	0x01
Name	Information direction
Data Type	UNSIGNED8
Access	rw
Defaultvalue	0x00
Low Limit	0
High Limit	2
PDO Mapping	no

Sub	0x02
Name	tx_refresh time rx_SCT
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0x32
Low Limit	0
High Limit	65535
PDO Mapping	no

Sub	0x03
Name	tx_reserved rx_SRVT
Data Type	UNSIGNED8
Access	rw
Defaultvalue	0x14
Low Limit	0
High Limit	255
PDO Mapping	no

Sub	0x04
Name	Transmission type
Data Type	UNSIGNED8
Access	rw
Defaultvalue	0xFE
Low Limit	0
High Limit	255
PDO Mapping	no

Sub	0x05
Name	COB ID 1
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x10D
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x06
Name	COB ID 2
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x10E
Low Limit	0
High Limit	4294967295
PDO Mapping	no

---

Object: 0x130e SRDO 14 communication parameter
Object Code	Record
Description	These objects shall contain the communication parameters for the SRDOs the device is able to receive or to transmit.

Sub	0x00
Name	Highest sub index supported
Data Type	UNSIGNED8
Access	ro
Defaultvalue	0x06
Low Limit	6
High Limit	6
PDO Mapping	no

Sub	0x01
Name	Information direction
Data Type	UNSIGNED8
Access	rw
Defaultvalue	0x00
Low Limit	0
High Limit	2
PDO Mapping	no

Sub	0x02
Name	tx_refresh time rx_SCT
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0x32
Low Limit	0
High Limit	65535
PDO Mapping	no

Sub	0x03
Name	tx_reserved rx_SRVT
Data Type	UNSIGNED8
Access	rw
Defaultvalue	0x14
Low Limit	0
High Limit	255
PDO Mapping	no

Sub	0x04
Name	Transmission type
Data Type	UNSIGNED8
Access	rw
Defaultvalue	0xFE
Low Limit	0
High Limit	255
PDO Mapping	no

Sub	0x05
Name	COB ID 1
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x10F
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x06
Name	COB ID 2
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x110
Low Limit	0
High Limit	4294967295
PDO Mapping	no

---

Object: 0x130f SRDO 15 communication parameter
Object Code	Record
Description	These objects shall contain the communication parameters for the SRDOs the device is able to receive or to transmit.

Sub	0x00
Name	Highest sub index supported
Data Type	UNSIGNED8
Access	ro
Defaultvalue	0x06
Low Limit	6
High Limit	6
PDO Mapping	no

Sub	0x01
Name	Information direction
Data Type	UNSIGNED8
Access	rw
Defaultvalue	0x00
Low Limit	0
High Limit	2
PDO Mapping	no

Sub	0x02
Name	tx_refresh time rx_SCT
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0x32
Low Limit	0
High Limit	65535
PDO Mapping	no

Sub	0x03
Name	tx_reserved rx_SRVT
Data Type	UNSIGNED8
Access	rw
Defaultvalue	0x14
Low Limit	0
High Limit	255
PDO Mapping	no

Sub	0x04
Name	Transmission type
Data Type	UNSIGNED8
Access	rw
Defaultvalue	0xFE
Low Limit	0
High Limit	255
PDO Mapping	no

Sub	0x05
Name	COB ID 1
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x111
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x06
Name	COB ID 2
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x112
Low Limit	0
High Limit	4294967295
PDO Mapping	no

---

Object: 0x1310 SRDO 16 communication parameter
Object Code	Record
Description	These objects shall contain the communication parameters for the SRDOs the device is able to receive or to transmit.

Sub	0x00
Name	Highest sub index supported
Data Type	UNSIGNED8
Access	ro
Defaultvalue	0x06
Low Limit	6
High Limit	6
PDO Mapping	no

Sub	0x01
Name	Information direction
Data Type	UNSIGNED8
Access	rw
Defaultvalue	0x00
Low Limit	0
High Limit	2
PDO Mapping	no

Sub	0x02
Name	tx_refresh time rx_SCT
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0x32
Low Limit	0
High Limit	65535
PDO Mapping	no

Sub	0x03
Name	tx_reserved rx_SRVT
Data Type	UNSIGNED8
Access	rw
Defaultvalue	0x14
Low Limit	0
High Limit	255
PDO Mapping	no

Sub	0x04
Name	Transmission type
Data Type	UNSIGNED8
Access	rw
Defaultvalue	0xFE
Low Limit	0
High Limit	255
PDO Mapping	no

Sub	0x05
Name	COB ID 1
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x113
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x06
Name	COB ID 2
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x114
Low Limit	0
High Limit	4294967295
PDO Mapping	no

---

Object: 0x1381 SRDO 1 mapping parameter
Object Code	Array
Description	These objects shall contain the mapping parameters for the SRDOs the device is able to receive or transmit. The type of the SRDO mapping parameter is an array of type UNSIGNED32. The sub-index 00h contains the number of valid entries within the mapping array. This half of the number of entries is also the number of the application variables, which shall be received/transmitted with the corresponding SRDO. The sub-indices from 01h to number of entries contain the information about the mapped application variables. The structure and the procedure for the mapping is described in /CiA301/. For changing the SRDO mapping first the SRDO shall be deleted.

Sub	0x00
Name	Highest sub-index supported
Data Type	UNSIGNED8
Access	const
Defaultvalue	2
Low Limit	0
High Limit	16
PDO Mapping	no

Sub	0x01
Name	Mapping Entry 1 plain
Data Type	UNSIGNED32
Access	const
Defaultvalue	0x66200108
Low Limit	0x66200108
High Limit	0x66200108
PDO Mapping	no

Sub	0x02
Name	Mapping Entry 1 inverted
Data Type	UNSIGNED32
Access	const
Defaultvalue	0x66220108
Low Limit	0x66220108
High Limit	0x66220108
PDO Mapping	no

---

Object: 0x1382 SRDO 2 mapping parameter
Object Code	Array
Description	These objects shall contain the mapping parameters for the SRDOs the device is able to receive or transmit. The type of the SRDO mapping parameter is an array of type UNSIGNED32. The sub-index 00h contains the number of valid entries within the mapping array. This half of the number of entries is also the number of the application variables, which shall be received/transmitted with the corresponding SRDO. The sub-indices from 01h to number of entries contain the information about the mapped application variables. The structure and the procedure for the mapping is described in /CiA301/. For changing the SRDO mapping first the SRDO shall be deleted.

Sub	0x00
Name	Highest sub-index supported
Data Type	UNSIGNED8
Access	const
Defaultvalue	16
Low Limit	0
High Limit	16
PDO Mapping	no

Sub	0x01
Name	Mapping Entry 1 plain
Data Type	UNSIGNED32
Access	const
Defaultvalue	0x66210108
Low Limit	0x66210108
High Limit	0x66210108
PDO Mapping	no

Sub	0x02
Name	Mapping Entry 1 inverted
Data Type	UNSIGNED32
Access	const
Defaultvalue	0x66230108
Low Limit	0x66230108
High Limit	0x66230108
PDO Mapping	no

Sub	0x03
Name	Mapping Entry 2 plain
Data Type	UNSIGNED32
Access	const
Defaultvalue	0x66210208
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x04
Name	Mapping Entry 2 inverted
Data Type	UNSIGNED32
Access	const
Defaultvalue	0x66230208
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x05
Name	Mapping Entry 3 plain
Data Type	UNSIGNED32
Access	const
Defaultvalue	0x66210308
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x06
Name	Mapping Entry 3 inverted
Data Type	UNSIGNED32
Access	const
Defaultvalue	0x66230308
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x07
Name	Mapping Entry 4 plain
Data Type	UNSIGNED32
Access	const
Defaultvalue	0x66210408
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x08
Name	Mapping Entry 4 inverted
Data Type	UNSIGNED32
Access	const
Defaultvalue	0x66230408
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x09
Name	Mapping Entry 5 plain
Data Type	UNSIGNED32
Access	const
Defaultvalue	0x66210508
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x0a
Name	Mapping Entry 5 inverted
Data Type	UNSIGNED32
Access	const
Defaultvalue	0x66230508
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x0b
Name	Mapping Entry 6 plain
Data Type	UNSIGNED32
Access	const
Defaultvalue	0x66210608
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x0c
Name	Mapping Entry 6 inverted
Data Type	UNSIGNED32
Access	const
Defaultvalue	0x66230608
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x0d
Name	Mapping Entry 7 plain
Data Type	UNSIGNED32
Access	const
Defaultvalue	0x66210708
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x0e
Name	Mapping Entry 7 inverted
Data Type	UNSIGNED32
Access	const
Defaultvalue	0x66230708
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x0f
Name	Mapping Entry 8 plain
Data Type	UNSIGNED32
Access	const
Defaultvalue	0x66210808
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x10
Name	Mapping Entry 8 inverted
Data Type	UNSIGNED32
Access	const
Defaultvalue	0x66230808
Low Limit	0
High Limit	4294967295
PDO Mapping	no

---

Object: 0x1389 SRDO 9 mapping parameter
Object Code	Array
Description	These objects shall contain the mapping parameters for the SRDOs the device is able to receive or transmit. The type of the SRDO mapping parameter is an array of type UNSIGNED32. The sub-index 00h contains the number of valid entries within the mapping array. This half of the number of entries is also the number of the application variables, which shall be received/transmitted with the corresponding SRDO. The sub-indices from 01h to number of entries contain the information about the mapped application variables. The structure and the procedure for the mapping is described in /CiA301/. For changing the SRDO mapping first the SRDO shall be deleted.

Sub	0x00
Name	Highest sub-index supported
Data Type	UNSIGNED8
Access	const
Defaultvalue	2
Low Limit	0
High Limit	16
PDO Mapping	no

Sub	0x01
Name	Mapping Entry 1 plain
Data Type	UNSIGNED32
Access	const
Defaultvalue	0x66200208
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x02
Name	Mapping Entry 1 inverted
Data Type	UNSIGNED32
Access	const
Defaultvalue	0x66220208
Low Limit	0
High Limit	4294967295
PDO Mapping	no

---

Object: 0x138a SRDO 10 mapping parameter
Object Code	Array
Description	These objects shall contain the mapping parameters for the SRDOs the device is able to receive or transmit. The type of the SRDO mapping parameter is an array of type UNSIGNED32. The sub-index 00h contains the number of valid entries within the mapping array. This half of the number of entries is also the number of the application variables, which shall be received/transmitted with the corresponding SRDO. The sub-indices from 01h to number of entries contain the information about the mapped application variables. The structure and the procedure for the mapping is described in /CiA301/. For changing the SRDO mapping first the SRDO shall be deleted.

Sub	0x00
Name	Highest sub-index supported
Data Type	UNSIGNED8
Access	const
Defaultvalue	4
Low Limit	0
High Limit	16
PDO Mapping	no

Sub	0x01
Name	Mapping Entry 1 plain
Data Type	UNSIGNED32
Access	const
Defaultvalue	0x66110020
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x02
Name	Mapping Entry 1 inverted
Data Type	UNSIGNED32
Access	const
Defaultvalue	0x661a0020
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x03
Name	Mapping Entry 2 plain
Data Type	UNSIGNED32
Access	const
Defaultvalue	0x66130020
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x04
Name	Mapping Entry 2 inverted
Data Type	UNSIGNED32
Access	const
Defaultvalue	0x661c0020
Low Limit	0
High Limit	4294967295
PDO Mapping	no

---

Object: 0x138b SRDO 11 mapping parameter
Object Code	Array
Description	These objects shall contain the mapping parameters for the SRDOs the device is able to receive or transmit. The type of the SRDO mapping parameter is an array of type UNSIGNED32. The sub-index 00h contains the number of valid entries within the mapping array. This half of the number of entries is also the number of the application variables, which shall be received/transmitted with the corresponding SRDO. The sub-indices from 01h to number of entries contain the information about the mapped application variables. The structure and the procedure for the mapping is described in /CiA301/. For changing the SRDO mapping first the SRDO shall be deleted.

Sub	0x00
Name	Highest sub-index supported
Data Type	UNSIGNED8
Access	const
Defaultvalue	2
Low Limit	0
High Limit	16
PDO Mapping	no

Sub	0x01
Name	Mapping Entry 1 plain
Data Type	UNSIGNED32
Access	const
Defaultvalue	0x66200308
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x02
Name	Mapping Entry 1 inverted
Data Type	UNSIGNED32
Access	const
Defaultvalue	0x66220308
Low Limit	0
High Limit	4294967295
PDO Mapping	no

---

Object: 0x138c SRDO 12 mapping parameter
Object Code	Array
Description	These objects shall contain the mapping parameters for the SRDOs the device is able to receive or transmit. The type of the SRDO mapping parameter is an array of type UNSIGNED32. The sub-index 00h contains the number of valid entries within the mapping array. This half of the number of entries is also the number of the application variables, which shall be received/transmitted with the corresponding SRDO. The sub-indices from 01h to number of entries contain the information about the mapped application variables. The structure and the procedure for the mapping is described in /CiA301/. For changing the SRDO mapping first the SRDO shall be deleted.

Sub	0x00
Name	Highest sub-index supported
Data Type	UNSIGNED8
Access	const
Defaultvalue	2
Low Limit	0
High Limit	16
PDO Mapping	no

Sub	0x01
Name	Mapping Entry 1 plain
Data Type	UNSIGNED32
Access	const
Defaultvalue	0x66200408
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x02
Name	Mapping Entry 1 inverted
Data Type	UNSIGNED32
Access	const
Defaultvalue	0x66220408
Low Limit	0
High Limit	4294967295
PDO Mapping	no

---

Object: 0x138d SRDO 13 mapping parameter
Object Code	Array
Description	These objects shall contain the mapping parameters for the SRDOs the device is able to receive or transmit. The type of the SRDO mapping parameter is an array of type UNSIGNED32. The sub-index 00h contains the number of valid entries within the mapping array. This half of the number of entries is also the number of the application variables, which shall be received/transmitted with the corresponding SRDO. The sub-indices from 01h to number of entries contain the information about the mapped application variables. The structure and the procedure for the mapping is described in /CiA301/. For changing the SRDO mapping first the SRDO shall be deleted.

Sub	0x00
Name	Highest sub-index supported
Data Type	UNSIGNED8
Access	const
Defaultvalue	2
Low Limit	0
High Limit	16
PDO Mapping	no

Sub	0x01
Name	Mapping Entry 1 plain
Data Type	UNSIGNED32
Access	const
Defaultvalue	0x66200508
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x02
Name	Mapping Entry 1 inverted
Data Type	UNSIGNED32
Access	const
Defaultvalue	0x66220508
Low Limit	0
High Limit	4294967295
PDO Mapping	no

---

Object: 0x138e SRDO 14 mapping parameter
Object Code	Array
Description	These objects shall contain the mapping parameters for the SRDOs the device is able to receive or transmit. The type of the SRDO mapping parameter is an array of type UNSIGNED32. The sub-index 00h contains the number of valid entries within the mapping array. This half of the number of entries is also the number of the application variables, which shall be received/transmitted with the corresponding SRDO. The sub-indices from 01h to number of entries contain the information about the mapped application variables. The structure and the procedure for the mapping is described in /CiA301/. For changing the SRDO mapping first the SRDO shall be deleted.

Sub	0x00
Name	Highest sub-index supported
Data Type	UNSIGNED8
Access	const
Defaultvalue	2
Low Limit	0
High Limit	16
PDO Mapping	no

Sub	0x01
Name	Mapping Entry 1 plain
Data Type	UNSIGNED32
Access	const
Defaultvalue	0x66200608
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x02
Name	Mapping Entry 1 inverted
Data Type	UNSIGNED32
Access	const
Defaultvalue	0x66220608
Low Limit	0
High Limit	4294967295
PDO Mapping	no

---

Object: 0x138f SRDO 15 mapping parameter
Object Code	Array
Description	These objects shall contain the mapping parameters for the SRDOs the device is able to receive or transmit. The type of the SRDO mapping parameter is an array of type UNSIGNED32. The sub-index 00h contains the number of valid entries within the mapping array. This half of the number of entries is also the number of the application variables, which shall be received/transmitted with the corresponding SRDO. The sub-indices from 01h to number of entries contain the information about the mapped application variables. The structure and the procedure for the mapping is described in /CiA301/. For changing the SRDO mapping first the SRDO shall be deleted.

Sub	0x00
Name	Highest sub-index supported
Data Type	UNSIGNED8
Access	const
Defaultvalue	4
Low Limit	0
High Limit	16
PDO Mapping	no

Sub	0x01
Name	Mapping Entry 1 plain
Data Type	UNSIGNED32
Access	const
Defaultvalue	0x66200708
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x02
Name	Mapping Entry 1 inverted
Data Type	UNSIGNED32
Access	const
Defaultvalue	0x66220708
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x03
Name	Mapping Entry 3 plain
Data Type	UNSIGNED32
Access	const
Defaultvalue	0x66200808
PDO Mapping	no

Sub	0x04
Name	Mapping Entry 4 inverted
Data Type	UNSIGNED32
Access	const
Defaultvalue	0x66220808
PDO Mapping	no

---

Object: 0x1390 SRDO 16 mapping parameter
Object Code	Array
Description	These objects shall contain the mapping parameters for the SRDOs the device is able to receive or transmit. The type of the SRDO mapping parameter is an array of type UNSIGNED32. The sub-index 00h contains the number of valid entries within the mapping array. This half of the number of entries is also the number of the application variables, which shall be received/transmitted with the corresponding SRDO. The sub-indices from 01h to number of entries contain the information about the mapped application variables. The structure and the procedure for the mapping is described in /CiA301/. For changing the SRDO mapping first the SRDO shall be deleted.

Sub	0x00
Name	Highest sub-index supported
Data Type	UNSIGNED8
Access	const
Defaultvalue	2
Low Limit	0
High Limit	16
PDO Mapping	no

Sub	0x01
Name	Mapping Entry 1
Data Type	UNSIGNED32
Access	const
Defaultvalue	0x26200208
PDO Mapping	no

Sub	0x02
Name	Mapping Entry 2
Data Type	UNSIGNED32
Access	const
Defaultvalue	0x26220208
PDO Mapping	no

---

Object: 0x13fe Configuration valid
Object Code	Variable
Description	This object shall contain an acknowledgement flag for a valid configuration. After write access to any of the safety-relevant parameter, this object shall be automatically set to invalid configuration (00h). If the configuration is finished, the user writes the “valid” value to this object.

Sub	0x00
Name	Configuration valid
Data Type	UNSIGNED8
Access	rw
Defaultvalue	0xA5
Low Limit	0
High Limit	255
PDO Mapping	no

---

Object: 0x13ff Safety configuration signature
Object Code	Array
Description	Contains an acknowledgement flag for a valid configuration. The value for the valid flag is A5h (165d)all other values are not valid. After a write access to the safety-relevant parameter the entry of object13FEh is automatically 0 or rather “not valid” If the configuration is finished it shall be acknowledgedwith an entry A5h or rather “valid” in object 13FEh.

Sub	0x00
Name	Highest sub-index supported
Data Type	UNSIGNED8
Access	ro
Defaultvalue	16
Low Limit	0
High Limit	255
PDO Mapping	no

Sub	0x01
Name	SRDO 1 signature
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0x70AB
PDO Mapping	no

Sub	0x02
Name	SRDO 2 signature
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0x8C5F
Low Limit	0
High Limit	65535
PDO Mapping	no

Sub	0x09
Name	SRDO 9 signature
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0x6C9B
PDO Mapping	no

Sub	0x0a
Name	SRDO 10 signature
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0x2274
PDO Mapping	no

Sub	0x0b
Name	SRDO 11 signature
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0x78AE
PDO Mapping	no

Sub	0x0c
Name	SRDO 12 signature
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0x4052
PDO Mapping	no

Sub	0x0d
Name	SRDO 13 signature
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0x9968
PDO Mapping	no

Sub	0x0e
Name	SRDO 14 signature
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0x1BF6
PDO Mapping	no

Sub	0x0f
Name	SRDO 15 signature
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0x3A94
PDO Mapping	no

Sub	0x10
Name	SRDO 16 signature
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0x9941
PDO Mapping	no

---

Object: 0x1400 RPDO 1 communication parameter
Object Code	Record
Description	This object contains the communication parameters for the PDOs the CANopen device is able to receive.

Sub	0x00
Name	Highest sub index supported
Data Type	UNSIGNED8
Access	const
Defaultvalue	5
Low Limit	2
High Limit	5
PDO Mapping	no

Sub	0x01
Name	COB ID used by RPDO
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x00000210
Low Limit	0x200
High Limit	0x27f
PDO Mapping	no

Sub	0x02
Name	Transmission type
Data Type	UNSIGNED8
Access	rw
Defaultvalue	0x01
Low Limit	0
High Limit	255
PDO Mapping	no

Sub	0x03
Name	Inhibit time
Data Type	UNSIGNED16
Access	ro
Defaultvalue	0
Low Limit	0
High Limit	0
PDO Mapping	no

Sub	0x05
Name	Event timer
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0
PDO Mapping	no

---

Object: 0x1401 RPDO 2 communication parameter
Object Code	Record
Description	This object contains the communication parameters for the PDOs the CANopen device is able to receive.

Sub	0x00
Name	Highest sub index supported
Data Type	UNSIGNED8
Access	const
Defaultvalue	5
Low Limit	2
High Limit	5
PDO Mapping	no

Sub	0x01
Name	COB ID used by RPDO
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x80000310
PDO Mapping	no

Sub	0x02
Name	Transmission type
Data Type	UNSIGNED8
Access	rw
Defaultvalue	0x01
Low Limit	0
High Limit	255
PDO Mapping	no

Sub	0x03
Name	Inhibit time
Data Type	UNSIGNED16
Access	ro
Defaultvalue	0
Low Limit	0
High Limit	0
PDO Mapping	no

Sub	0x05
Name	Event timer
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0
PDO Mapping	no

---

Object: 0x1402 RPDO 3 communication parameter
Object Code	Record
Description	This object contains the communication parameters for the PDOs the CANopen device is able to receive.

Sub	0x00
Name	Highest sub index supported
Data Type	UNSIGNED8
Access	const
Defaultvalue	5
Low Limit	2
High Limit	5
PDO Mapping	no

Sub	0x01
Name	COB ID used by RPDO
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x80000410
PDO Mapping	no

Sub	0x02
Name	Transmission type
Data Type	UNSIGNED8
Access	rw
Defaultvalue	0x01
Low Limit	0
High Limit	255
PDO Mapping	no

Sub	0x03
Name	Inhibit time
Data Type	UNSIGNED16
Access	ro
Defaultvalue	0
Low Limit	0
High Limit	0
PDO Mapping	no

Sub	0x05
Name	Event timer
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0
PDO Mapping	no

---

Object: 0x1403 RPDO 4 communication parameter
Object Code	Record
Description	This object contains the communication parameters for the PDOs the CANopen device is able to receive.

Sub	0x00
Name	Highest sub index supported
Data Type	UNSIGNED8
Access	const
Defaultvalue	5
Low Limit	2
High Limit	5
PDO Mapping	no

Sub	0x01
Name	COB ID used by RPDO
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x00000510
PDO Mapping	no

Sub	0x02
Name	Transmission type
Data Type	UNSIGNED8
Access	rw
Defaultvalue	0x01
Low Limit	0
High Limit	255
PDO Mapping	no

Sub	0x03
Name	Inhibit time
Data Type	UNSIGNED16
Access	ro
Defaultvalue	0
Low Limit	0
High Limit	0
PDO Mapping	no

Sub	0x05
Name	Event timer
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0
PDO Mapping	no

---

Object: 0x1404 RPDO 5 communication parameter
Object Code	Record
Description	This object contains the communication parameters for the PDOs the CANopen device is able to receive.

Sub	0x00
Name	Highest sub index supported
Data Type	UNSIGNED8
Access	const
Defaultvalue	5
Low Limit	2
High Limit	5
PDO Mapping	no

Sub	0x01
Name	COB ID used by RPDO
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x80000000
PDO Mapping	no

Sub	0x02
Name	Transmission type
Data Type	UNSIGNED8
Access	rw
Defaultvalue	0x01
Low Limit	0
High Limit	255
PDO Mapping	no

Sub	0x03
Name	Inhibit time
Data Type	UNSIGNED16
Access	ro
Defaultvalue	0
Low Limit	0
High Limit	0
PDO Mapping	no

Sub	0x05
Name	Event timer
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0
PDO Mapping	no

---

Object: 0x1405 RPDO 6 communication parameter
Object Code	Record
Description	This object contains the communication parameters for the PDOs the CANopen device is able to receive.

Sub	0x00
Name	Highest sub index supported
Data Type	UNSIGNED8
Access	const
Defaultvalue	5
Low Limit	2
High Limit	5
PDO Mapping	no

Sub	0x01
Name	COB ID used by RPDO
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x80000000
PDO Mapping	no

Sub	0x02
Name	Transmission type
Data Type	UNSIGNED8
Access	rw
Defaultvalue	0x01
Low Limit	0
High Limit	255
PDO Mapping	no

Sub	0x03
Name	Inhibit time
Data Type	UNSIGNED16
Access	ro
Defaultvalue	0
Low Limit	0
High Limit	0
PDO Mapping	no

Sub	0x05
Name	Event timer
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0
PDO Mapping	no

---

Object: 0x1406 RPDO 7 communication parameter
Object Code	Record
Description	This object contains the communication parameters for the PDOs the CANopen device is able to receive.

Sub	0x00
Name	Highest sub index supported
Data Type	UNSIGNED8
Access	const
Defaultvalue	5
Low Limit	2
High Limit	5
PDO Mapping	no

Sub	0x01
Name	COB ID used by RPDO
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x80000000
PDO Mapping	no

Sub	0x02
Name	Transmission type
Data Type	UNSIGNED8
Access	rw
Defaultvalue	0x01
Low Limit	0
High Limit	255
PDO Mapping	no

Sub	0x03
Name	Inhibit time
Data Type	UNSIGNED16
Access	ro
Defaultvalue	0
Low Limit	0
High Limit	0
PDO Mapping	no

Sub	0x05
Name	Event timer
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0
PDO Mapping	no

---

Object: 0x1407 RPDO 8 communication parameter
Object Code	Record
Description	This object contains the communication parameters for the PDOs the CANopen device is able to receive.

Sub	0x00
Name	Highest sub index supported
Data Type	UNSIGNED8
Access	const
Defaultvalue	5
Low Limit	2
High Limit	5
PDO Mapping	no

Sub	0x01
Name	COB ID used by RPDO
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x80000000
PDO Mapping	no

Sub	0x02
Name	Transmission type
Data Type	UNSIGNED8
Access	rw
Defaultvalue	0x01
Low Limit	0
High Limit	255
PDO Mapping	no

Sub	0x03
Name	Inhibit time
Data Type	UNSIGNED16
Access	ro
Defaultvalue	0
Low Limit	0
High Limit	0
PDO Mapping	no

Sub	0x05
Name	Event timer
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0
PDO Mapping	no

---

Object: 0x1600 RPDO 1 mapping parameter
Object Code	Record
Description	This object contains the mapping parameters for the PDOs the CANopen device is able to receive.

Sub	0x00
Name	Number of mapped application objects in PDO
Data Type	UNSIGNED8
Access	rw
Defaultvalue	1
Low Limit	0
High Limit	255
PDO Mapping	no

Sub	0x01
Name	Mapping Entry 1
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x60400010
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x02
Name	Mapping Entry 2
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x03
Name	Mapping Entry 3
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x04
Name	Mapping Entry 4
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x05
Name	Mapping Entry 5
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x06
Name	Mapping Entry 6
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x07
Name	Mapping Entry 7
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x08
Name	Mapping Entry 8
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

---

Object: 0x1601 RPDO 2 mapping parameter
Object Code	Record
Description	This object contains the mapping parameters for the PDOs the CANopen device is able to receive.

Sub	0x00
Name	Number of mapped application objects in PDO
Data Type	UNSIGNED8
Access	rw
Defaultvalue	1
Low Limit	0
High Limit	255
PDO Mapping	no

Sub	0x01
Name	Mapping Entry 1
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x50008
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x02
Name	Mapping Entry 2
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x03
Name	Mapping Entry 3
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x04
Name	Mapping Entry 4
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x05
Name	Mapping Entry 5
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x06
Name	Mapping Entry 6
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x07
Name	Mapping Entry 7
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x08
Name	Mapping Entry 8
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

---

Object: 0x1602 RPDO 3 mapping parameter
Object Code	Record
Description	This object contains the mapping parameters for the PDOs the CANopen device is able to receive.

Sub	0x00
Name	Number of mapped application objects in PDO
Data Type	UNSIGNED8
Access	rw
Defaultvalue	1
Low Limit	0
High Limit	255
PDO Mapping	no

Sub	0x01
Name	Mapping Entry 1
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x50008
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x02
Name	Mapping Entry 2
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x03
Name	Mapping Entry 3
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x04
Name	Mapping Entry 4
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x05
Name	Mapping Entry 5
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x06
Name	Mapping Entry 6
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x07
Name	Mapping Entry 7
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x08
Name	Mapping Entry 8
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

---

Object: 0x1603 RPDO 4 mapping parameter
Object Code	Record
Description	This object contains the mapping parameters for the PDOs the CANopen device is able to receive.

Sub	0x00
Name	Number of mapped application objects in PDO
Data Type	UNSIGNED8
Access	rw
Defaultvalue	2
Low Limit	0
High Limit	255
PDO Mapping	no

Sub	0x01
Name	Mapping Entry 1
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x60400010
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x02
Name	Mapping Entry 2
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x60420010
PDO Mapping	no

Sub	0x03
Name	Mapping Entry 3
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x04
Name	Mapping Entry 4
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x05
Name	Mapping Entry 5
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x06
Name	Mapping Entry 6
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x07
Name	Mapping Entry 7
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x08
Name	Mapping Entry 8
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

---

Object: 0x1604 RPDO 5 mapping parameter
Object Code	Record
Description	This object contains the mapping parameters for the PDOs the CANopen device is able to receive.

Sub	0x00
Name	Number of mapped application objects in PDO
Data Type	UNSIGNED8
Access	rw
Defaultvalue	1
Low Limit	0
High Limit	255
PDO Mapping	no

Sub	0x01
Name	Mapping Entry 1
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x50008
PDO Mapping	no

Sub	0x02
Name	Mapping Entry 2
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x03
Name	Mapping Entry 3
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x04
Name	Mapping Entry 4
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x05
Name	Mapping Entry 5
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x06
Name	Mapping Entry 6
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x07
Name	Mapping Entry 7
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x08
Name	Mapping Entry 8
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

---

Object: 0x1605 RPDO 6 mapping parameter
Object Code	Record
Description	This object contains the mapping parameters for the PDOs the CANopen device is able to receive.

Sub	0x00
Name	Number of mapped application objects in PDO
Data Type	UNSIGNED8
Access	rw
Defaultvalue	1
Low Limit	0
High Limit	255
PDO Mapping	no

Sub	0x01
Name	Mapping Entry 1
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x50008
PDO Mapping	no

Sub	0x02
Name	Mapping Entry 2
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x03
Name	Mapping Entry 3
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x04
Name	Mapping Entry 4
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x05
Name	Mapping Entry 5
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x06
Name	Mapping Entry 6
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x07
Name	Mapping Entry 7
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x08
Name	Mapping Entry 8
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

---

Object: 0x1606 RPDO 7 mapping parameter
Object Code	Record
Description	This object contains the mapping parameters for the PDOs the CANopen device is able to receive.

Sub	0x00
Name	Number of mapped application objects in PDO
Data Type	UNSIGNED8
Access	rw
Defaultvalue	1
Low Limit	0
High Limit	255
PDO Mapping	no

Sub	0x01
Name	Mapping Entry 1
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x50008
PDO Mapping	no

Sub	0x02
Name	Mapping Entry 2
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x03
Name	Mapping Entry 3
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x04
Name	Mapping Entry 4
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x05
Name	Mapping Entry 5
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x06
Name	Mapping Entry 6
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x07
Name	Mapping Entry 7
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x08
Name	Mapping Entry 8
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

---

Object: 0x1607 RPDO 8 mapping parameter
Object Code	Record
Description	This object contains the mapping parameters for the PDOs the CANopen device is able to receive.

Sub	0x00
Name	Number of mapped application objects in PDO
Data Type	UNSIGNED8
Access	rw
Defaultvalue	1
Low Limit	0
High Limit	255
PDO Mapping	no

Sub	0x01
Name	Mapping Entry 1
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x50008
PDO Mapping	no

Sub	0x02
Name	Mapping Entry 2
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x03
Name	Mapping Entry 3
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x04
Name	Mapping Entry 4
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x05
Name	Mapping Entry 5
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x06
Name	Mapping Entry 6
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x07
Name	Mapping Entry 7
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x08
Name	Mapping Entry 8
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

---

Object: 0x1800 TPDO 1 communication parameter
Object Code	Record
Description	This object contains the communication parameters for the PDOs the CANopen device is able to transmit.

Sub	0x00
Name	Highest sub index supported
Data Type	UNSIGNED8
Access	const
Defaultvalue	2
Low Limit	2
High Limit	5
PDO Mapping	no

Sub	0x01
Name	COB ID used by TPDO
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x40000190
PDO Mapping	no

Sub	0x02
Name	Transmission type
Data Type	UNSIGNED8
Access	rw
Defaultvalue	1
Low Limit	0
High Limit	255
PDO Mapping	no

---

Object: 0x1801 TPDO 2 communication parameter
Object Code	Record
Description	This object contains the communication parameters for the PDOs the CANopen device is able to transmit.

Sub	0x00
Name	Highest sub index supported
Data Type	UNSIGNED8
Access	const
Defaultvalue	2
Low Limit	2
High Limit	5
PDO Mapping	no

Sub	0x01
Name	COB ID used by TPDO
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0xC0000290
PDO Mapping	no

Sub	0x02
Name	Transmission type
Data Type	UNSIGNED8
Access	rw
Defaultvalue	1
Low Limit	0
High Limit	255
PDO Mapping	no

---

Object: 0x1802 TPDO 3 Communication Parameter
Object Code	Record
Description	This object contains the communication parameters for the PDOs the CANopen device is able to transmit.

Sub	0x00
Name	Highest sub index supported
Data Type	UNSIGNED8
Access	const
Defaultvalue	2
Low Limit	2
High Limit	5
PDO Mapping	no

Sub	0x01
Name	COB ID used by TPDO
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x40000390
PDO Mapping	no

Sub	0x02
Name	Transmission Type
Data Type	UNSIGNED8
Access	rw
Defaultvalue	1
Low Limit	0
High Limit	255
PDO Mapping	no

---

Object: 0x1803 TPDO 4 Communication Parameter
Object Code	Record
Description	This object contains the communication parameters for the PDOs the CANopen device is able to transmit.

Sub	0x00
Name	Highest sub index supported
Data Type	UNSIGNED8
Access	const
Defaultvalue	2
Low Limit	2
High Limit	5
PDO Mapping	no

Sub	0x01
Name	COB ID used by TPDO
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x40000490
PDO Mapping	no

Sub	0x02
Name	Transmission Type
Data Type	UNSIGNED8
Access	rw
Defaultvalue	1
Low Limit	0
High Limit	255
PDO Mapping	no

---

Object: 0x1804 TPDO 5 Communication Parameter
Object Code	Record
Description	This object contains the communication parameters for the PDOs the CANopen device is able to transmit.

Sub	0x00
Name	Highest sub index supported
Data Type	UNSIGNED8
Access	const
Defaultvalue	2
Low Limit	2
High Limit	5
PDO Mapping	no

Sub	0x01
Name	COB ID used by TPDO
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0xC0000000
PDO Mapping	no

Sub	0x02
Name	Transmission Type
Data Type	UNSIGNED8
Access	rw
Defaultvalue	1
Low Limit	0
High Limit	255
PDO Mapping	no

---

Object: 0x1805 TPDO 6 Communication Parameter
Object Code	Record
Description	This object contains the communication parameters for the PDOs the CANopen device is able to transmit.

Sub	0x00
Name	Highest sub index supported
Data Type	UNSIGNED8
Access	const
Defaultvalue	2
Low Limit	2
High Limit	5
PDO Mapping	no

Sub	0x01
Name	COB ID used by TPDO
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0xC0000000
PDO Mapping	no

Sub	0x02
Name	Transmission Type
Data Type	UNSIGNED8
Access	rw
Defaultvalue	1
Low Limit	0
High Limit	255
PDO Mapping	no

---

Object: 0x1806 TPDO 7 Communication Parameter
Object Code	Record
Description	This object contains the communication parameters for the PDOs the CANopen device is able to transmit.

Sub	0x00
Name	Highest sub index supported
Data Type	UNSIGNED8
Access	const
Defaultvalue	2
Low Limit	2
High Limit	5
PDO Mapping	no

Sub	0x01
Name	COB ID used by TPDO
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0xC0000000
PDO Mapping	no

Sub	0x02
Name	Transmission Type
Data Type	UNSIGNED8
Access	rw
Defaultvalue	1
Low Limit	0
High Limit	255
PDO Mapping	no

---

Object: 0x1807 TPDO 8 Communication Parameter
Object Code	Record
Description	This object contains the communication parameters for the PDOs the CANopen device is able to transmit.

Sub	0x00
Name	Highest sub index supported
Data Type	UNSIGNED8
Access	const
Defaultvalue	2
Low Limit	2
High Limit	5
PDO Mapping	no

Sub	0x01
Name	COB ID used by TPDO
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0xC0000000
PDO Mapping	no

Sub	0x02
Name	Transmission Type
Data Type	UNSIGNED8
Access	rw
Defaultvalue	1
Low Limit	0
High Limit	255
PDO Mapping	no

---

Object: 0x1a00 TPDO 1 mapping parameter
Object Code	Record
Description	This object contains the mapping for the PDOs the device is able to transmit.

Sub	0x00
Name	Number of mapped application objects in TPDO
Data Type	UNSIGNED8
Access	rw
Defaultvalue	1
Low Limit	0
High Limit	8
PDO Mapping	no

Sub	0x01
Name	Mapping Entry 1
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x60410010
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x02
Name	Mapping Entry 2
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x03
Name	Mapping Entry 3
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x04
Name	Mapping Entry 4
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x05
Name	Mapping Entry 5
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x06
Name	Mapping Entry 6
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x07
Name	Mapping Entry 7
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x08
Name	Mapping Entry 8
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

---

Object: 0x1a01 TPDO 2 mapping parameter
Object Code	Record
Description	This object contains the mapping for the PDOs the device is able to transmit.

Sub	0x00
Name	Number of mapped application objects in TPDO
Data Type	UNSIGNED8
Access	rw
Defaultvalue	1
Low Limit	0
High Limit	8
PDO Mapping	no

Sub	0x01
Name	Mapping Entry 1
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x60410010
PDO Mapping	no

Sub	0x02
Name	Mapping Entry 2
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x03
Name	Mapping Entry 3
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x04
Name	Mapping Entry 4
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x05
Name	Mapping Entry 5
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x06
Name	Mapping Entry 6
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x07
Name	Mapping Entry 7
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x08
Name	Mapping Entry 8
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

---

Object: 0x1a02 TPDO 3 mapping parameter
Object Code	Record
Description	This object contains the mapping for the PDOs the device is able to transmit.

Sub	0x00
Name	Number of mapped application objects in TPDO
Data Type	UNSIGNED8
Access	rw
Defaultvalue	2
Low Limit	0
High Limit	8
PDO Mapping	no

Sub	0x01
Name	Mapping Entry 1
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x60410010
PDO Mapping	no

Sub	0x02
Name	Mapping Entry 2
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x60640020
PDO Mapping	no

Sub	0x03
Name	Mapping Entry 3
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x04
Name	Mapping Entry 4
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x05
Name	Mapping Entry 5
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x06
Name	Mapping Entry 6
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x07
Name	Mapping Entry 7
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x08
Name	Mapping Entry 8
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

---

Object: 0x1a03 TPDO 4 mapping parameter
Object Code	Record
Description	This object contains the mapping for the PDOs the device is able to transmit.

Sub	0x00
Name	Number of mapped application objects in TPDO
Data Type	UNSIGNED8
Access	rw
Defaultvalue	2
Low Limit	0
High Limit	8
PDO Mapping	no

Sub	0x01
Name	Mapping Entry 1
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x60410010
PDO Mapping	no

Sub	0x02
Name	Mapping Entry 2
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x606c0020
PDO Mapping	no

Sub	0x03
Name	Mapping Entry 3
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x04
Name	Mapping Entry 4
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x05
Name	Mapping Entry 5
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x06
Name	Mapping Entry 6
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x07
Name	Mapping Entry 7
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x08
Name	Mapping Entry 8
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

---

Object: 0x1a04 TPDO 5 mapping parameter
Object Code	Record
Description	This object contains the mapping for the PDOs the device is able to transmit.

Sub	0x00
Name	Number of mapped application objects in TPDO
Data Type	UNSIGNED8
Access	rw
Defaultvalue	1
Low Limit	0
High Limit	8
PDO Mapping	no

Sub	0x01
Name	Mapping Entry 1
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x60410010
PDO Mapping	no

Sub	0x02
Name	Mapping Entry 2
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x03
Name	Mapping Entry 3
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x04
Name	Mapping Entry 4
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x05
Name	Mapping Entry 5
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x06
Name	Mapping Entry 6
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x07
Name	Mapping Entry 7
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x08
Name	Mapping Entry 8
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

---

Object: 0x1a05 TPDO 6 mapping parameter
Object Code	Record
Description	This object contains the mapping for the PDOs the device is able to transmit.

Sub	0x00
Name	Number of mapped application objects in TPDO
Data Type	UNSIGNED8
Access	rw
Defaultvalue	1
Low Limit	0
High Limit	8
PDO Mapping	no

Sub	0x01
Name	Mapping Entry 1
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x60410010
PDO Mapping	no

Sub	0x02
Name	Mapping Entry 2
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x03
Name	Mapping Entry 3
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x04
Name	Mapping Entry 4
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x05
Name	Mapping Entry 5
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x06
Name	Mapping Entry 6
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x07
Name	Mapping Entry 7
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x08
Name	Mapping Entry 8
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

---

Object: 0x1a06 TPDO 7 mapping parameter
Object Code	Record
Description	This object contains the mapping for the PDOs the device is able to transmit.

Sub	0x00
Name	Number of mapped application objects in TPDO
Data Type	UNSIGNED8
Access	rw
Defaultvalue	1
Low Limit	0
High Limit	8
PDO Mapping	no

Sub	0x01
Name	Mapping Entry 1
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x60410010
PDO Mapping	no

Sub	0x02
Name	Mapping Entry 2
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x03
Name	Mapping Entry 3
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x04
Name	Mapping Entry 4
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x05
Name	Mapping Entry 5
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x06
Name	Mapping Entry 6
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x07
Name	Mapping Entry 7
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x08
Name	Mapping Entry 8
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

---

Object: 0x1a07 TPDO 8 mapping parameter
Object Code	Record
Description	This object contains the mapping for the PDOs the device is able to transmit.

Sub	0x00
Name	Number of mapped application objects in TPDO
Data Type	UNSIGNED8
Access	rw
Defaultvalue	1
Low Limit	0
High Limit	8
PDO Mapping	no

Sub	0x01
Name	Mapping Entry 1
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x60410010
PDO Mapping	no

Sub	0x02
Name	Mapping Entry 2
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x03
Name	Mapping Entry 3
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x04
Name	Mapping Entry 4
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x05
Name	Mapping Entry 5
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x06
Name	Mapping Entry 6
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x07
Name	Mapping Entry 7
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

Sub	0x08
Name	Mapping Entry 8
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x0000
PDO Mapping	no

---

Object: 0x2064 accurate_position_value
Object Code	Variable
Description	Accurate position encoder from analog hall sensor.

Sub	0x00
Name	accurate_position_value
Data Type	INTEGER32
Access	ro
Defaultvalue
PDO Mapping	optional

---

Object: 0x208f accurate_position_resolution
Object Code	Variable
Description	Resolution of the accurate position value. Unit: increment per round.

Sub	0x00
Name	accurate_position_resolution
Data Type	UNSIGNED8
Access	const
Defaultvalue	120
PDO Mapping	optional

---

Object: 0x2100 Configure Bit Timing Parameters
Object Code	Variable
Description	Configure CAN connection Baudrate : 0 : Baud rate of 1 MBit/sec 1 : Baud rate of 800 kBit/sec 2 : Baud rate of 500 kBit/sec 3 : Baud rate of 250 kBit/sec 4 : Baud rate of 125 kBit/sec 5 : Baud rate of 100 kBit/sec 6 : Baud rate of 50 kBit/sec 7 : Baud rate of 20 kBit/sec 8 : Baud rate of 10 kBit/sec

Sub	0x00
Name	Configure Bit Timing Parameters
Data Type	UNSIGNED8
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4
PDO Mapping	no

---

Object: 0x2101 Node ID
Object Code	Variable
Description	Configure CAN Node ID

Sub	0x00
Name	Node ID
Data Type	UNSIGNED8
Access	rw
Defaultvalue	0x10
Low Limit	1
High Limit	127
PDO Mapping	no

---

Object: 0x2102 R Termination
Object Code	Variable
Description	Configure CAN termination resistor

Sub	0x00
Name	R Termination
Data Type	BOOLEAN
Access	rw
Defaultvalue	1
Low Limit	0
High Limit	1
PDO Mapping	no

---

Object: 0x2155 motctrl_speed_pid_p
Object Code	Variable
Description	Configure motor control PID, proportional gain

Sub	0x00
Name	motctrl_speed_pid_p
Data Type	UNSIGNED32
Access	rw
Low Limit	0
High Limit	4294967295
PDO Mapping	no

---

Object: 0x2156 motctrl_speed_pid_i
Object Code	Variable
Description	Configure motor control PID, integral gain

Sub	0x00
Name	motctrl_speed_pid_i
Data Type	UNSIGNED32
Access	rw
Low Limit	0
High Limit	4294967295
PDO Mapping	no

---

Object: 0x2157 motctrl_speed_pid_d
Object Code	Variable
Description	Configure motor control PID, derivative gain

Sub	0x00
Name	motctrl_speed_pid_d
Data Type	UNSIGNED32
Access	rw
Low Limit	0
High Limit	4294967295
PDO Mapping	no

---

Object: 0x2158 motctrl_speed_pid_tw
Object Code	Variable
Description	Configure motor control PID, integral anti-windup time constant. Common value: sqrt(kd / ki). Implementation is: Tw = motctrl_speed_pid_tw / 1000. Example: to set Tw to 0.316, write 316 in motctrl_speed_pid_tw.

Sub	0x00
Name	motctrl_speed_pid_tw
Data Type	UNSIGNED32
Access	rw
PDO Mapping	no

---

Object: 0x2159 motctrl_speed_pid_tn
Object Code	Variable
Description	Configure motor control PID, derivative filter time constant. Implementation is: Tn = motctrl_speed_pid_tn / 1000. Example: to set Tn to 0.6, write 600 in motctrl_speed_pid_tn.

Sub	0x00
Name	motctrl_speed_pid_tn
Data Type	UNSIGNED32
Access	rw
PDO Mapping	no

---

Object: 0x2201 Hardware version
Object Code	Variable
Description	0 = Hardware version init 1 = A 2 = B 3 = C 4 = D 5 = E 6 = F 7 = G 8 = H 9 = I 10 = J

Sub	0x00
Name	Hardware version
Data Type	UNSIGNED32
Access	ro
Defaultvalue
Low Limit	0
High Limit	4294967295
PDO Mapping	no

---

Object: 0x2202 Software version
Object Code	Variable
Description	1st octet : not used 2nd octet : version major 3rd octet : version minor 4th octet : version patch

Sub	0x00
Name	Software version
Data Type	UNSIGNED32
Access	ro
Defaultvalue
Low Limit	0
High Limit	4294967295
PDO Mapping	no

---

Object: 0x2204 Product ID
Object Code	Variable
Description	This object indicates the product ID of the SWD. When 0, no product ID was found in the product, else: ezSWDcore.0/C 1 ezSWDcore.4/C 2 ezSWDcore.14/C 3 ezSWDcore.25/C 4 ezSWDcore.50/C 5 ezSWDcore.100/C 6 ezSWD125IM.4/C 7 ezSWD125IM.4/C_PRO 8 ezSWD125IM.14/C 9 ezSWD125IM.25/C 10 ezSWDcore.0B/C 11 ezSWDcore.4B/C 12 ezSWDcore.14B/C 13 ezSWDcore.25B/C 14 ezSWDcore.50B/C 15 ezSWDcore.100B/C 16 ezSWD125IM.4B/C 17 ezSWD125IM.14B/C 18 ezSWD125IM.25B/C 19 ezSWD150IH.14/C-0 20 ezSWD150IH.25/C-0 21 ezSWD150IH.14/C-1 22 ezSWD150IH.25/C-1 23 ezSWD150IH.14B/C-0 24 ezSWD150IH.25B/C-0 25 ezSWD150IH.14B/C-1 26 ezSWD150IH.25B/C-1 27 ezSWD200IH.14/C-0 28 ezSWD200IH.25/C-0 29 ezSWD200IH.14/C-1 30 ezSWD200IH.25/C-1 31 ezSWD200IH.14B/C-0 32 ezSWD200IH.25B/C-0 33 ezSWD200IH.14B/C-1 34 ezSWD200IH.25B/C-1 35 E_202777_SMC_GM 36 E_202727_SMC_GN2 37

Sub	0x00
Name	Product ID
Data Type	UNSIGNED32
Access	ro
Low Limit	0
High Limit	0xffffffff
PDO Mapping	no

---

Object: 0x2205 Software Reference
Object Code	Variable
Description	FW_UNKNOWN = 0U FW_SWD_RECOVERY =1U FW_SWD_CORE = 2U FW_SWD_150 = 3U Maintenance = 255U

Sub	0x00
Name	Software Reference
Data Type	UNSIGNED8
Access	ro
Defaultvalue
Low Limit	0
High Limit	255
PDO Mapping	no

---

Object: 0x2400 control_ext
Object Code	Record
Description	Configure the output power supply, on CAN connector and/or on IO connector.

Sub	0x00
Name	Highest sub-index supported
Data Type	UNSIGNED8
Access	ro
Defaultvalue	2
Low Limit	0
High Limit	255
PDO Mapping	no

Sub	0x01
Name	control_ext_can_alim
Data Type	UNSIGNED8
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	255
PDO Mapping	no

Sub	0x02
Name	control_ext_canio_alim
Data Type	UNSIGNED8
Access	rw
Defaultvalue	1
Low Limit	0
High Limit	255
PDO Mapping	no

---

Object: 0x2401 status_ext
Object Code	Record
Description	Get status of the output power supply, on CAN connector and/or on IO connector.

Sub	0x00
Name	Highest sub-index supported
Data Type	UNSIGNED8
Access	ro
Defaultvalue	2
Low Limit	0
High Limit	255
PDO Mapping	no

Sub	0x01
Name	status_ext_can_alim
Data Type	UNSIGNED8
Access	rw
Defaultvalue
Low Limit	0
High Limit	255
PDO Mapping	no

Sub	0x02
Name	status_ext_canio_alim
Data Type	UNSIGNED8
Access	rw
Defaultvalue
Low Limit	0
High Limit	255
PDO Mapping	no

---

Object: 0x2620 Safety controlwords manufacturer
Object Code	Record
Description	Manufacturer safety control words

Sub	0x00
Name	Highest sub index supported
Data Type	UNSIGNED8
Access	ro
Defaultvalue	3
Low Limit	0
High Limit	255
Description	Manufacturer safety control words
PDO Mapping	no

Sub	0x01
Name	safety_controlword_system
Data Type	UNSIGNED8
Access	ro
Defaultvalue
Low Limit	0
High Limit	255
PDO Mapping	optional, TPDO only

Sub	0x02
Name	safety_controlword_safein_1
Data Type	UNSIGNED8
Access	ro
Defaultvalue
Low Limit	0
High Limit	255
PDO Mapping	optional, TPDO only

Sub	0x03
Name	safety_controlword_safemotion
Data Type	UNSIGNED8
Access	ro
Defaultvalue
Low Limit	0
High Limit	255
PDO Mapping	optional, TPDO only

---

Object: 0x2621 Safety statuswords manufacturer
Object Code	Record
Description	Manufacturer safety status words

Sub	0x00
Name	Highest sub index supported
Data Type	UNSIGNED8
Access	ro
Defaultvalue	1
Low Limit	0
High Limit	255
PDO Mapping	no

Sub	0x01
Name	safety_statusword_safeout
Data Type	UNSIGNED8
Access	ro
Defaultvalue
Low Limit	0
High Limit	255
PDO Mapping	no

---

Object: 0x2622 Inverted Safety controlwords manufacturer
Object Code	Record
Description	Manufacturer inverted safety control words

Sub	0x00
Name	Highest sub index supported
Data Type	UNSIGNED8
Access	ro
Defaultvalue	3
Low Limit	0
High Limit	255
PDO Mapping	no

Sub	0x01
Name	inverted_safety_controlword_system
Data Type	UNSIGNED8
Access	rw
Defaultvalue
Low Limit	0
High Limit	255
PDO Mapping	optional, TPDO only

Sub	0x02
Name	inverted_safety_controlword_safein_1
Data Type	UNSIGNED8
Access	rw
Defaultvalue
Low Limit	0
High Limit	255
PDO Mapping	optional, TPDO only

Sub	0x03
Name	inverted_safety_controlword_safemotion
Data Type	UNSIGNED8
Access	rw
Defaultvalue
Low Limit	0
High Limit	255
PDO Mapping	optional, TPDO only

---

Object: 0x2623 Inverted Safety statuswords manufacturer
Object Code	Record
Description	Manufacturerinverted safety status words

Sub	0x00
Name	Highest sub index supported
Data Type	UNSIGNED8
Access	ro
Defaultvalue	1
Low Limit	0
High Limit	255
PDO Mapping	no

Sub	0x01
Name	inverted_safety_statusword_safeout
Data Type	UNSIGNED8
Access	rw
Defaultvalue
Low Limit	0
High Limit	255
PDO Mapping	no

---

Object: 0x2624 ezw_safety_word_scw_mapping_permanent_cw1
Object Code	Array
Description	This object allows to map safety functions to a virtual controlword which is always enabled. Any safety function mapped to scw_cw_permanent_can_1_bit0 ... scw_cw_permanent_can_1_bit7 will be permanently activated.

Sub	0x00
Name	ezw_safety_word_scw_mapping_permanent_cw1
Data Type	UNSIGNED8
Access	ro
Defaultvalue	8
Low Limit	0
High Limit	8
PDO Mapping	no

Sub	0x01
Name	scw_cw_permanent_can_1_bit0
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x02
Name	scw_cw_permanent_can_1_bit1
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x03
Name	scw_cw_permanent_can_1_bit2
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x04
Name	scw_cw_permanent_can_1_bit3
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x05
Name	scw_cw_permanent_can_1_bit4
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x06
Name	scw_cw_permanent_can_1_bit5
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x07
Name	scw_cw_permanent_can_1_bit6
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x08
Name	scw_cw_permanent_can_1_bit7
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

---

Object: 0x2625 ezw_safety_word_scw_mapping_permanent_cw2
Object Code	Array
Description	This object allows to map safety functions to a virtual controlword which is always enabled. Any safety function mapped to scw_cw_permanent_can_2_bit0 ... scw_cw_permanent_can_2_bit7 will be permanently activated.

Sub	0x00
Name	ezw_safety_word_scw_mapping_permanent_cw2
Data Type	UNSIGNED8
Access	ro
Defaultvalue	8
Low Limit	0
High Limit	8
PDO Mapping	no

Sub	0x01
Name	scw_cw_permanent_can_2_bit0
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x02
Name	scw_cw_permanent_can_2_bit1
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x03
Name	scw_cw_permanent_can_2_bit2
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x04
Name	scw_cw_permanent_can_2_bit3
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x05
Name	scw_cw_permanent_can_2_bit4
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x06
Name	scw_cw_permanent_can_2_bit5
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x07
Name	scw_cw_permanent_can_2_bit6
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x08
Name	scw_cw_permanent_can_2_bit7
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

---

Object: 0x2630 Safety Function Output
Object Code	Record
Description	Consolidated status of safety function command. If a safety command is active somewhere, the output will be active The mapping is fixed: Bit 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15 safety_function_output_1: STO, SBC_1, SBC_2, SBC_3, SLS_1, SLS_2, SLS_3, SLS_4, SLS_5, SLS_6, SLS_7, SLS_8, SDI_P_1, SDI_P_2, SDI_N_1, SDI_N_2 safety_function_output_2: ERROR_ACK, RESTART_ACK, SBU, SMS, SLSa_1, SLSa_2, SLSa_3, SLSa_4, SLSa_5, SLSa_6, SLSa_7, SLSa_8

Sub	0x00
Name	Highest sub-index supported
Data Type	UNSIGNED8
Access	ro
Defaultvalue	2
PDO Mapping	no

Sub	0x01
Name	safety_function_output_1
Data Type	UNSIGNED16
Access	ro
Defaultvalue
PDO Mapping	optional, TPDO only

Sub	0x02
Name	safety_function_output_2
Data Type	UNSIGNED16
Access	ro
Defaultvalue
PDO Mapping	optional, TPDO only

---

Object: 0x2660 Brake present
Object Code	Variable
Description	This object shall be used to configure if an external brake is used on the product. A value of TRUE indicates that an external brake is intended to be connected on the brake connector of the product, while a value of FALSE indicates that no external brake shall be connected. Upon transitionning to OPERATION_ENABLED, the product will check the external brake presence according to this object. This parameter limits the available SBC modes to: - when TRUE: SBC_0, SBC_1, SBC_2 - when FALSE: SBC_0, SBC_3

Sub	0x00
Name	Brake present
Data Type	BOOLEAN
Access	rw
Low Limit	0
High Limit	1
PDO Mapping	no

---

Object: 0x26f1 ezw_safety_word_scw_mapping_safein
Object Code	Array
Description	Manufacturer safety control word mapping for Safe Inputs

Sub	0x00
Name	ezw_safety_word_scw_mapping_safein
Data Type	UNSIGNED8
Access	ro
Defaultvalue	6
Low Limit	0
High Limit	255
PDO Mapping	no

Sub	0x01
Name	scw_cw_safein_bit0
Data Type	UNSIGNED32
Access	ro
Defaultvalue	0x66400000
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x02
Name	scw_cw_safein_bit1
Data Type	UNSIGNED32
Access	ro
Defaultvalue	0x66400000
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x03
Name	scw_cw_safein_bit2
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x04
Name	scw_cw_safein_bit3
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x05
Name	scw_cw_safein_bit4
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x06
Name	scw_cw_safein_bit5
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

---

Object: 0x26f8 ezw_safety_word_ssw_mapping_safeout
Object Code	Array
Description	Manufacturer safety status word mapping for Safe Outputs

Sub	0x00
Name	ezw_safety_word_ssw_mapping_safeout
Data Type	UNSIGNED8
Access	ro
Defaultvalue	4
Low Limit	0
High Limit	255
PDO Mapping	no

Sub	0x01
Name	scw_sw_safeout_bit0
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x02
Name	scw_sw_safeout_bit1
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x03
Name	scw_sw_safeout_bit2
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x04
Name	scw_sw_safeout_bit3
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

---

Object: 0x3040 SBU command
Object Code	Variable
Description	This object shall provide the SBU command, received by a controlword. A value of TRUE indicates that the command is inactive, while a value of FALSE indicates that the command is active.

Sub	0x00
Name	SBU command
Data Type	BOOLEAN
Access	ro
Defaultvalue
PDO Mapping	no

---

Object: 0x3041 SBU status
Object Code	Variable
Description	This object shall provide the SBU status. A value of FALSE indicates that the SBU is inactive, while a value of TRUE indicates that the SBU is active.

Sub	0x00
Name	SBU status
Data Type	UNSIGNED8
Access	ro
Defaultvalue
PDO Mapping	optional, TPDO only

---

Object: 0x3050 SLSa commands
Object Code	Array
Description	This parameter shall provide the SLSa commands, which may be received within a controlword(s) by means of an SRDO. A value of TRUE shall deactivate the dedicated SLSa function, and a value of FALSE shall activate the dedicated SLSa function. The sub-indices shall correspond to the sub-indices of the following parameters: 3051h,3052h, 3053h, 3054h, 3055h, 3056h, 3057h, 3058h and 3059h.

Sub	0x00
Name	SLSa commands
Data Type	UNSIGNED8
Access	ro
Defaultvalue	8
PDO Mapping	no

Sub	0x01
Name	SLSa command 1
Data Type	BOOLEAN
Access	ro
Defaultvalue
Low Limit	0
High Limit	1
PDO Mapping	no

Sub	0x02
Name	SLSa command 2
Data Type	BOOLEAN
Access	ro
Defaultvalue
Low Limit	0
High Limit	1
PDO Mapping	no

Sub	0x03
Name	SLSa command 3
Data Type	BOOLEAN
Access	ro
Defaultvalue
Low Limit	0
High Limit	1
PDO Mapping	no

Sub	0x04
Name	SLSa command 4
Data Type	BOOLEAN
Access	ro
Defaultvalue
Low Limit	0
High Limit	1
PDO Mapping	no

Sub	0x05
Name	SLSa command 5
Data Type	BOOLEAN
Access	ro
Defaultvalue
Low Limit	0
High Limit	1
PDO Mapping	no

Sub	0x06
Name	SLSa command 6
Data Type	BOOLEAN
Access	ro
Defaultvalue
Low Limit	0
High Limit	1
PDO Mapping	no

Sub	0x07
Name	SLSa command 7
Data Type	BOOLEAN
Access	ro
Defaultvalue
Low Limit	0
High Limit	1
PDO Mapping	no

Sub	0x08
Name	SLSa command 8
Data Type	BOOLEAN
Access	ro
Defaultvalue
Low Limit	0
High Limit	1
PDO Mapping	no

---

Object: 0x3051 SLSa time to positive velocity monitoring
Object Code	Array
Description	This parameter shall indicate the configured delay of activating the SLSa function for the positive velocity.

Sub	0x00
Name	SLSa time to positive velocity monitoring
Data Type	UNSIGNED8
Access	ro
Defaultvalue	8
PDO Mapping	no

Sub	0x01
Name	SLSa time to positive velocity monitoring 1
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	65535
PDO Mapping	no

Sub	0x02
Name	SLSa time to positive velocity monitoring 2
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	65535
PDO Mapping	no

Sub	0x03
Name	SLSa time to positive velocity monitoring 3
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	65535
PDO Mapping	no

Sub	0x04
Name	SLSa time to positive velocity monitoring 4
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	65535
PDO Mapping	no

Sub	0x05
Name	SLSa time to positive velocity monitoring 5
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	65535
PDO Mapping	no

Sub	0x06
Name	SLSa time to positive velocity monitoring 6
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	65535
PDO Mapping	no

Sub	0x07
Name	SLSa time to positive velocity monitoring 7
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	65535
PDO Mapping	no

Sub	0x08
Name	SLSa time to positive velocity monitoring 8
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	65535
PDO Mapping	no

---

Object: 0x3052 SLSa positive velocity limit u32
Object Code	Array
Description	This parameter shall indicate the configured positive speed limit.

Sub	0x00
Name	SLSa positive velocity limit u32
Data Type	UNSIGNED8
Access	ro
Defaultvalue	8
PDO Mapping	no

Sub	0x01
Name	SLSa positive velocity limit u32 1
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x02
Name	SLSa positive velocity limit u32 2
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x03
Name	SLSa positive velocity limit u32 3
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x04
Name	SLSa positive velocity limit u32 4
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x05
Name	SLSa positive velocity limit u32 5
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x06
Name	SLSa positive velocity limit u32 6
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x07
Name	SLSa positive velocity limit u32 7
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x08
Name	SLSa positive velocity limit u32 8
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

---

Object: 0x3053 SLSa time for positive velocity in limits
Object Code	Array
Description	This parameter shall indicate the configured time for the positive velocity within the configured limits.

Sub	0x00
Name	SLSa time for positive velocity in limits
Data Type	UNSIGNED8
Access	ro
Defaultvalue	8
PDO Mapping	no

Sub	0x01
Name	SLSa time for positive velocity in limits 1
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	65535
PDO Mapping	no

Sub	0x02
Name	SLSa time for positive velocity in limits 2
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	65535
PDO Mapping	no

Sub	0x03
Name	SLSa time for positive velocity in limits 3
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	65535
PDO Mapping	no

Sub	0x04
Name	SLSa time for positive velocity in limits 4
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	65535
PDO Mapping	no

Sub	0x05
Name	SLSa time for positive velocity in limits 5
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	65535
PDO Mapping	no

Sub	0x06
Name	SLSa time for positive velocity in limits 6
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	65535
PDO Mapping	no

Sub	0x07
Name	SLSa time for positive velocity in limits 7
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	65535
PDO Mapping	no

Sub	0x08
Name	SLSa time for positive velocity in limits 8
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	65535
PDO Mapping	no

---

Object: 0x3054 SLSa time to negative velocity monitoring
Object Code	Array
Description	This parameter shall indicate the configured delay of activating the SLSa function for the negative velocity.

Sub	0x00
Name	SLSa time to negative velocity monitoring
Data Type	UNSIGNED8
Access	ro
Defaultvalue	8
PDO Mapping	no

Sub	0x01
Name	SLSa time to negative velocity monitoring 1
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	65535
PDO Mapping	no

Sub	0x02
Name	SLSa time to negative velocity monitoring 2
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	65535
PDO Mapping	no

Sub	0x03
Name	SLSa time to negative velocity monitoring 3
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	65535
PDO Mapping	no

Sub	0x04
Name	SLSa time to negative velocity monitoring 4
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	65535
PDO Mapping	no

Sub	0x05
Name	SLSa time to negative velocity monitoring 5
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	65535
PDO Mapping	no

Sub	0x06
Name	SLSa time to negative velocity monitoring 6
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	65535
PDO Mapping	no

Sub	0x07
Name	SLSa time to negative velocity monitoring 7
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	65535
PDO Mapping	no

Sub	0x08
Name	SLSa time to negative velocity monitoring 8
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	65535
PDO Mapping	no

---

Object: 0x3055 SLSa negative velocity limit u32
Object Code	Array
Description	This parameter shall indicate the configured negative speed limit.

Sub	0x00
Name	SLSa negative velocity limit u32
Data Type	UNSIGNED8
Access	ro
Defaultvalue	8
PDO Mapping	no

Sub	0x01
Name	SLSa negative velocity limit u32 1
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x02
Name	SLSa negative velocity limit u32 2
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x03
Name	SLSa negative velocity limit u32 3
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x04
Name	SLSa negative velocity limit u32 4
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x05
Name	SLSa negative velocity limit u32 5
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x06
Name	SLSa negative velocity limit u32 6
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x07
Name	SLSa negative velocity limit u32 7
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x08
Name	SLSa negative velocity limit u32 8
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

---

Object: 0x3056 SLSa time for negative velocity in limits
Object Code	Array
Description	This parameter shall indicate the configured time for the negative velocity within the configured limits.

Sub	0x00
Name	SLSa time for negative velocity in limits
Data Type	UNSIGNED8
Access	ro
Defaultvalue	8
PDO Mapping	no

Sub	0x01
Name	SLSa time for negative velocity in limits 1
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	65535
PDO Mapping	no

Sub	0x02
Name	SLSa time for negative velocity in limits 2
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	65535
PDO Mapping	no

Sub	0x03
Name	SLSa time for negative velocity in limits 3
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	65535
PDO Mapping	no

Sub	0x04
Name	SLSa time for negative velocity in limits 4
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	65535
PDO Mapping	no

Sub	0x05
Name	SLSa time for negative velocity in limits 5
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	65535
PDO Mapping	no

Sub	0x06
Name	SLSa time for negative velocity in limits 6
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	65535
PDO Mapping	no

Sub	0x07
Name	SLSa time for negative velocity in limits 7
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	65535
PDO Mapping	no

Sub	0x08
Name	SLSa time for negative velocity in limits 8
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	65535
PDO Mapping	no

---

Object: 0x3057 SLSa error reactions
Object Code	Array
Description	This parameter shall indicate the configured SLSa error reactions, when the configured velocity or deceleration limits are exceeded. The value shall indicate, which command shall be preformed locally by means of a pointer (index and sub-index) to the command parameter. A value of 0000 0000h shall indicate that no reaction is required.

Sub	0x00
Name	SLSa error reactions
Data Type	UNSIGNED8
Access	ro
Defaultvalue	8
PDO Mapping	no

Sub	0x01
Name	SLSa error reaction 1
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x66400000
PDO Mapping	no

Sub	0x02
Name	SLSa error reaction 2
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x66400000
PDO Mapping	no

Sub	0x03
Name	SLSa error reaction 3
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x66400000
PDO Mapping	no

Sub	0x04
Name	SLSa error reaction 4
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x66400000
PDO Mapping	no

Sub	0x05
Name	SLSa error reaction 5
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x66400000
PDO Mapping	no

Sub	0x06
Name	SLSa error reaction 6
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x66400000
PDO Mapping	no

Sub	0x07
Name	SLSa error reaction 7
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x66400000
PDO Mapping	no

Sub	0x08
Name	SLSa error reaction 8
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x66400000
PDO Mapping	no

---

Object: 0x3058 SLSa safety application configuration signature
Object Code	Array
Description	This object shall provide the configuration checksum for SLSa safety application parameters. The sub-indices 01h to 254h relate to the corresponding instances and are calculated in the same manner.

Sub	0x00
Name	SLSa safety application configuration signature
Data Type	UNSIGNED8
Access	ro
Defaultvalue	8
PDO Mapping	no

Sub	0x01
Name	SLSa safety application configuration signature 1
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0xF94
PDO Mapping	no

Sub	0x02
Name	SLSa safety application configuration signature 2
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0xF94
PDO Mapping	no

Sub	0x03
Name	SLSa safety application configuration signature 3
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0xF94
PDO Mapping	no

Sub	0x04
Name	SLSa safety application configuration signature 4
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0xF94
PDO Mapping	no

Sub	0x05
Name	SLSa safety application configuration signature 5
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0xF94
PDO Mapping	no

Sub	0x06
Name	SLSa safety application configuration signature 6
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0xF94
PDO Mapping	no

Sub	0x07
Name	SLSa safety application configuration signature 7
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0xF94
PDO Mapping	no

Sub	0x08
Name	SLSa safety application configuration signature 8
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0xF94
PDO Mapping	no

---

Object: 0x3059 SLSa statuses
Object Code	Array
Description	This parameter shall provide the current SLSa statuses, which may be mapped into a statusword(s) provided via SRDO. A value of TRUE shall indicate that the dedicated SLSa function is active, and a value of FALSE shall indicate that the dedicated SLSa function is not active. The sub-indices shall correspond to the sub-indices of the following parameters: 3050h, 3051h, 3052h, 3053h, 3054h, 3055h, 3056h, 3057h and 3058h.

Sub	0x00
Name	SLSa statuses
Data Type	UNSIGNED8
Access	ro
Defaultvalue	8
PDO Mapping	no

Sub	0x01
Name	SLSa status 1
Data Type	BOOLEAN
Access	ro
Defaultvalue
Low Limit	0
High Limit	1
PDO Mapping	no

Sub	0x02
Name	SLSa status 2
Data Type	BOOLEAN
Access	ro
Defaultvalue
Low Limit	0
High Limit	1
PDO Mapping	no

Sub	0x03
Name	SLSa status 3
Data Type	BOOLEAN
Access	ro
Defaultvalue
Low Limit	0
High Limit	1
PDO Mapping	no

Sub	0x04
Name	SLSa status 4
Data Type	BOOLEAN
Access	ro
Defaultvalue
Low Limit	0
High Limit	1
PDO Mapping	no

Sub	0x05
Name	SLSa status 5
Data Type	BOOLEAN
Access	ro
Defaultvalue
Low Limit	0
High Limit	1
PDO Mapping	no

Sub	0x06
Name	SLSa status 6
Data Type	BOOLEAN
Access	ro
Defaultvalue
Low Limit	0
High Limit	1
PDO Mapping	no

Sub	0x07
Name	SLSa status 7
Data Type	BOOLEAN
Access	ro
Defaultvalue
Low Limit	0
High Limit	1
PDO Mapping	no

Sub	0x08
Name	SLSa status 8
Data Type	BOOLEAN
Access	ro
Defaultvalue
Low Limit	0
High Limit	1
PDO Mapping	no

---

Object: 0x6007 abort_connection_option_code
Object Code	Variable
Description	This object shall indicate what action shall be performed when one of the following events occurres: bus-off, heartbeat, life guarding, NMT stopped state entered, reset application, and reset communication.

Sub	0x00
Name	abort_connection_option_code
Data Type	INTEGER16
Access	ro
Defaultvalue	2
Low Limit	-32768
High Limit	32767
PDO Mapping	no

---

Object: 0x603f error_code
Object Code	Variable
Description	This object shall provide the error code of the last error which occurred in the drive device.

Sub	0x00
Name	error_code
Data Type	UNSIGNED16
Access	ro
Defaultvalue
Low Limit	0
High Limit	65535
PDO Mapping	optional, TPDO only

---

Object: 0x6040 controlword
Object Code	Variable
Description	This object shall indicate the received command controlling the PDS FSA. The bits 7, 3, 2, 1, and 0 shall be supported. The bits 0 to 9 shall be supported according to the mode of operation. If the related functionality is not available, an appropriate emergency message shall be generated. The manufacturer-specific (ms) bits may be supported. All implemented bits of the controlword are valid independent of the PDS FSA state. Starting of any movement is operation mode specific and is described in the related clause.

Sub	0x00
Name	controlword
Data Type	UNSIGNED16
Access	rw
Defaultvalue
Low Limit	0
High Limit	65535
PDO Mapping	optional, RPDO only

---

Object: 0x6041 statusword
Object Code	Variable
Description	This object shall provide the status of the PDS FSA. The bits 10, 9, and 6 to 0 shall be supported. The oms bits shall be supported if the mode of operation is supported. If the related functionality of the oms bits is not available, the corresponding bit shall be 0b. The manufacturer-specific (ms) bits may be supported. All implemented bits of the status word are valid independent of the PDS FSA state.

Sub	0x00
Name	statusword
Data Type	UNSIGNED16
Access	ro
Defaultvalue
Low Limit	0
High Limit	65535
PDO Mapping	optional, TPDO only

---

Object: 0x6042 vl_target_velocity
Object Code	Variable
Description	This object shall indicate the required velocity of the system. It shall be multiplied by the vl dimension factor and the vl set-point factor, if these are implemented. The value shall be given in user-defined velocity units or in revolutions per minute (r/min), if the vl dimension factor and the vl set-point factor are not implemented or have the value 1. Positive values shall indicate forward direction and negative values shall indicate reverse direction.

Sub	0x00
Name	vl_target_velocity
Data Type	INTEGER16
Access	rw
Defaultvalue	0
Low Limit	-32768
High Limit	32767
PDO Mapping	optional

---

Object: 0x6043 vl_velocity_demand
Object Code	Variable
Description	This object shall provide the instantaneous velocity generated by the ramp function. It is an internal object of the drive device. The value shall be given in the very same unit as the vl target velocity. Positive values shall indicate forward direction and negative values shall indicate reverse direction.

Sub	0x00
Name	vl_velocity_demand
Data Type	INTEGER16
Access	ro
Defaultvalue
Low Limit	-32768
High Limit	32767
PDO Mapping	optional

---

Object: 0x6044 vl_velocity_actual_value
Object Code	Variable
Description	This object shall provide the velocity at the motor spindle or load. Depending on the implementation (simple drive device, without sensor, with sensor, etc.), the drive shall provide the appropriate image of the actual velocity derived for example from velocity demand or a sensor signal. The value shall be given in the very same unit as the vl target velocity. Positive values shall indicate forward direction and negative values shall indicate reverse direction.

Sub	0x00
Name	vl_velocity_actual_value
Data Type	INTEGER16
Access	ro
Defaultvalue
Low Limit	-32768
High Limit	32767
PDO Mapping	optional

---

Object: 0x6046 vl_velocity_min_max_amount
Object Code	Array
Description	This object shall indicate the configured minimum and maximum amount of velocity. The vl velocity max amount sub-object shall be mapped internally to the vl velocity max pos and vl velocity max neg values. The vl velocity min amount sub-object shall be mapped internally to the vl velocity min pos and vl velocity min neg values.

Sub	0x00
Name	vl_velocity_min_max_amount_highest_subindex
Data Type	UNSIGNED8
Access	const
Defaultvalue	2
Low Limit	0
High Limit	2
PDO Mapping	no

Sub	0x01
Name	vl_velocity_min_max_amount_vl_velocity_min_amount
Data Type	UNSIGNED32
Access	rw
Defaultvalue
Low Limit	0
High Limit	4294967295
PDO Mapping	optional, RPDO only

Sub	0x02
Name	vl_velocity_min_max_amount_vl_velocity_max_amount
Data Type	UNSIGNED32
Access	rw
Defaultvalue
Low Limit	0
High Limit	4294967295
PDO Mapping	optional, RPDO only

---

Object: 0x6048 vl_velocity_acceleration
Object Code	Record
Description	This object shall indicate the configured delta speed and delta time of the slope of the acceleration ramp. The value of delta speed shall be given in rotations per minute (r/min) or in user-defined velocity units if the vl dimension factor object is implemented and is not set to 1. The value of delta time shall be given in s.

Sub	0x00
Name	vl_velocity_acceleration_highest_subindex
Data Type	UNSIGNED8
Access	const
Defaultvalue	2
Low Limit	0
High Limit	2
PDO Mapping	no

Sub	0x01
Name	vl_velocity_acceleration_delta_speed
Data Type	UNSIGNED32
Access	rw
Defaultvalue
Low Limit	0
High Limit	4294967295
PDO Mapping	optional, RPDO only

Sub	0x02
Name	vl_velocity_acceleration_delta_time
Data Type	UNSIGNED16
Access	rw
Defaultvalue
Low Limit	0
High Limit	65535
PDO Mapping	optional, RPDO only

---

Object: 0x6049 vl_velocity_deceleration
Object Code	Record
Description	This object shall indicate the configured delta speed and delta time of the slope of the deceleration ramp. The value of delta speed shall be given in rotations per minute (r/min) or in user-defined velocity units if the vl dimension factor object is implemented and is not set to 1. The value of delta time shall be given in s. If this object is not implemented, the value in object 6048h shall be used for vl velocity deceleration.

Sub	0x00
Name	vl_velocity_deceleration_highest_subindex
Data Type	UNSIGNED8
Access	const
Defaultvalue	2
Low Limit	0
High Limit	2
PDO Mapping	no

Sub	0x01
Name	vl_velocity_deceleration_delta_speed
Data Type	UNSIGNED32
Access	rw
Defaultvalue
Low Limit	0
High Limit	4294967295
PDO Mapping	optional, RPDO only

Sub	0x02
Name	vl_velocity_deceleration_delta_time
Data Type	UNSIGNED16
Access	rw
Defaultvalue
Low Limit	0
High Limit	65535
PDO Mapping	optional, RPDO only

---

Object: 0x604a vl_velocity_quick_stop
Object Code	Record
Description	This object shall indicate the configured delta speed and delta time of the slope of the deceleration ramp for quick stop. The value of delta speed shall be given in rotations per minute (r/min) or in user-defined velocity units if the vl dimension factor object is implemented and is not set to 1. The value of delta time shall be given in s.

Sub	0x00
Name	vl_velocity_quick_stop_highest_subindex
Data Type	UNSIGNED8
Access	const
Defaultvalue	2
Low Limit	0
High Limit	2
PDO Mapping	no

Sub	0x01
Name	vl_velocity_quick_stop_delta_speed
Data Type	UNSIGNED32
Access	rw
Defaultvalue
Low Limit	0
High Limit	4294967295
PDO Mapping	optional, RPDO only

Sub	0x02
Name	vl_velocity_quick_stop_delta_time
Data Type	UNSIGNED16
Access	rw
Defaultvalue
Low Limit	0
High Limit	65535
PDO Mapping	optional, RPDO only

---

Object: 0x604b vl_set_point_factor
Object Code	Array
Description	This object shall indicate the configured numerator and denominator of the vl set-point factor. The vl set-point factor serves to modify the resolution or directing range of the specified setpoint. It is aso included in calculation of the vl velocity demand, and vl velocity actual value. It does not influence the velocity limit function and the ramp function. The value shall be dimensionless and shall be given in the range from -32 768 to +32 767, but the value of 0 shall not be used.

Sub	0x00
Name	vl_set_point_factor_highest_subindex
Data Type	UNSIGNED8
Access	const
Defaultvalue	2
Low Limit	0
High Limit	2
PDO Mapping	no

Sub	0x01
Name	vl_set_point_factor_numerator
Data Type	INTEGER16
Access	rw
Defaultvalue
Low Limit	-32768
High Limit	32767
PDO Mapping	optional, RPDO only

Sub	0x02
Name	vl_set_point_factor_denominator
Data Type	INTEGER16
Access	rw
Defaultvalue
Low Limit	-32768
High Limit	32767
PDO Mapping	optional, RPDO only

---

Object: 0x604c vl_dimension_factor
Object Code	Array
Description	This object shall indicate the configured numerator and denominator of the vl dimension factor. The vl dimension factor serves to include gearing in calculation or serves to scale the frequencies or specific units of the user. It influences the vl target velocity, vl velocity demand, vl velocity actual value as well as the velocity limit function and the ramp function. Calculating the vl dimension factor: Every user-specific velocity consists of specific units referred to specific units of time (e.g. 1/s, bottles/min, m/s, etc.). The purpose of the vl dimension factor is to convert the specific velocity units to the revolutions/minute. Velocity [user-defined units] * vl dimension factor [r/min/user-defined units] = Velocity [r/min] The values shall be in the range of -2 147 483 648 to +2 147 483 647, but the value of 0 shall be not used.

Sub	0x00
Name	vl_dimension_factor_highest_subindex
Data Type	UNSIGNED8
Access	const
Defaultvalue	2
Low Limit	0
High Limit	2
PDO Mapping	no

Sub	0x01
Name	vl_dimension_factor_numerator
Data Type	INTEGER32
Access	ro
Defaultvalue	1
Low Limit	-2147483648
High Limit	2147483647
PDO Mapping	optional, RPDO only

Sub	0x02
Name	vl_dimension_factor_denominator
Data Type	INTEGER32
Access	ro
Defaultvalue	1
Low Limit	-2147483648
High Limit	2147483647
PDO Mapping	optional, RPDO only

---

Object: 0x605a quick_stop_option_code
Object Code	Variable
Description	This object shall indicate what action is performed when the quick stop function is executed. The slow down ramp is the deceleration value of the used mode of operations.

Sub	0x00
Name	quick_stop_option_code
Data Type	INTEGER16
Access	ro
Defaultvalue	6
Low Limit	-32768
High Limit	32767
PDO Mapping	no

---

Object: 0x605b shutdown_option_code
Object Code	Variable
Description	This object shall indicate what action is performed if there is a transition from operation enabled state to ready to switch on state. The slow down ramp is the deceleration value of the used mode of operations.

Sub	0x00
Name	shutdown_option_code
Data Type	INTEGER16
Access	ro
Defaultvalue	0
Low Limit	-32768
High Limit	32767
PDO Mapping	no

---

Object: 0x605c disable_operation_option_code
Object Code	Variable
Description	This object shall indicate what action is performed if there is a transition from operation enabled state to switched on state. The slow down ramp is the deceleration value of the used mode of operations.

Sub	0x00
Name	disable_operation_option_code
Data Type	INTEGER16
Access	ro
Defaultvalue	0
Low Limit	-32768
High Limit	32767
PDO Mapping	no

---

Object: 0x605d halt_option_code
Object Code	Variable
Description	This object shall indicate what action is performed when the halt function is executed. The slow down ramp is the deceleration value of the used mode of operations.

Sub	0x00
Name	halt_option_code
Data Type	INTEGER16
Access	rw
Defaultvalue	1
Low Limit	-32768
High Limit	32767
PDO Mapping	no

---

Object: 0x605e fault_reaction_option_code
Object Code	Variable
Description	This object shall indicate what action is performed when fault is detected in the PDS. The slow down ramp is the deceleration value of the used mode of operations.

Sub	0x00
Name	fault_reaction_option_code
Data Type	INTEGER16
Access	ro
Defaultvalue	0
Low Limit	-32768
High Limit	32767
PDO Mapping	no

---

Object: 0x6060 modes_of_operation
Object Code	Variable
Description	This object shall indicate the requested operation mode.

Sub	0x00
Name	modes_of_operation
Data Type	INTEGER8
Access	rw
Defaultvalue	2
Low Limit	-128
High Limit	127
PDO Mapping	optional, RPDO only

---

Object: 0x6061 modes_of_operation_display
Object Code	Variable
Description	This object shall provide the actual operation mode.

Sub	0x00
Name	modes_of_operation_display
Data Type	INTEGER8
Access	ro
Defaultvalue	2
Low Limit	-128
High Limit	127
PDO Mapping	optional, TPDO only

---

Object: 0x6064 position_value
Object Code	Variable
Description	This object shall provide the actual value of the position measurement device. The value shall be given in user-defined position units.

Sub	0x00
Name	position_value
Data Type	INTEGER32
Access	ro
Defaultvalue
Low Limit	-2147483648
High Limit	2147483647
PDO Mapping	optional, TPDO only

---

Object: 0x606c velocity_actual_value
Object Code	Variable
Description	This object shall provide the actual velocity value derived either from the velocity sensor or the position sensor. The value shall be given in user-defined velocity units.

Sub	0x00
Name	velocity_actual_value
Data Type	INTEGER32
Access	rw
Defaultvalue
Low Limit	-2147483648
High Limit	2147483647
PDO Mapping	optional, TPDO only

---

Object: 0x607e polarity
Object Code	Variable
Description	This object shall indicate if the position demand value shall be multiplied by 1 of by –1. The polarity flag shall have no influence on the homing mode. The position polarity bit shall be used only for profile position (pp) mode and cyclic sync position mode (csp). The velocity polarity bit shall be used only for profile velocity (pv) mode and cyclic sync velocity mode (csv).

Sub	0x00
Name	polarity
Data Type	UNSIGNED8
Access	rw
Defaultvalue
Low Limit	0
High Limit	255
PDO Mapping	optional, RPDO only

---

Object: 0x608f position_encoder_resolution
Object Code	Array
Description	This object shall indicate the configured encoder increments and the number of motor revolutions. The position encoder resolution shall be calculated by the following formula: position encoder resolution = encoder increments / motor revolutions All values shall be dimensionless.

Sub	0x00
Name	position_encoder_resolution_highest_subindex
Data Type	UNSIGNED8
Access	const
Defaultvalue	2
Low Limit	0
High Limit	2
PDO Mapping	no

Sub	0x01
Name	position_encoder_resolution_encoder_increments
Data Type	UNSIGNED32
Access	rw
Defaultvalue
Low Limit	0
High Limit	4294967295
PDO Mapping	optional, RPDO only

Sub	0x02
Name	position_encoder_resolution_motor_revolutions
Data Type	UNSIGNED32
Access	rw
Defaultvalue
Low Limit	0
High Limit	4294967295
PDO Mapping	optional, RPDO only

---

Object: 0x6090 velocity_encoder_resolution
Object Code	Array
Description	This object shall indicate the configured encoder increments per second and the motor revolutions per second. The velocity encoder resolution shall be calculated by the following formula: velocity encoder resolution = (encoder increments/s) / (motor revolutions/s) All values shall be dimensionless.

Sub	0x00
Name	velocity_encoder_resolution_highest_subindex
Data Type	UNSIGNED8
Access	const
Defaultvalue	2
Low Limit	0
High Limit	2
PDO Mapping	no

Sub	0x01
Name	velocity_encoder_resolution_encoder_increments_per_second
Data Type	UNSIGNED32
Access	rw
Defaultvalue
Low Limit	0
High Limit	4294967295
PDO Mapping	optional, RPDO only

Sub	0x02
Name	velocity_encoder_resolution_motor_revolutions_per_second
Data Type	UNSIGNED32
Access	rw
Defaultvalue
Low Limit	0
High Limit	4294967295
PDO Mapping	optional, RPDO only

---

Object: 0x6091 gear_ratio
Object Code	Array
Description	This object shall indicate the configured number of motor shaft revolutions and the number of driving shaft revolutions. The gear ratio shall be calculated by the following formula: gear ratio = motor shaft revolutions / driving shaft revolutions All values shall be dimensionless.

Sub	0x00
Name	gear_ratio_highest_subindex
Data Type	UNSIGNED8
Access	const
Defaultvalue	2
Low Limit	0
High Limit	2
PDO Mapping	no

Sub	0x01
Name	gear_ratio_motor_revolutions
Data Type	UNSIGNED32
Access	rw
Low Limit	0
High Limit	4294967295
PDO Mapping	optional, RPDO only

Sub	0x02
Name	gear_ratio_shaft_revolutions
Data Type	UNSIGNED32
Access	rw
Low Limit	0
High Limit	4294967295
PDO Mapping	optional, RPDO only

---

Object: 0x6092 feed_constant
Object Code	Array
Description	This object shall indicate the configured feed constant, which is the measurement distance per one revolution of the driving shaft of the gearbox. The feed constant shall be calculated by the following formula: feed constant = feed / driving shaft revolutions The feed shall be given in user-defined position units, and the driving shaft revolutions value shall be dimensionless.

Sub	0x00
Name	feed_constant_highest_subindex
Data Type	UNSIGNED8
Access	const
Defaultvalue	2
Low Limit	0
High Limit	2
PDO Mapping	no

Sub	0x01
Name	feed_constant_feed
Data Type	UNSIGNED32
Access	rw
Defaultvalue
Low Limit	0
High Limit	4294967295
PDO Mapping	optional, RPDO only

Sub	0x02
Name	feed_constant_shaft_revolutions
Data Type	UNSIGNED32
Access	rw
Defaultvalue
Low Limit	0
High Limit	4294967295
PDO Mapping	optional, RPDO only

---

Object: 0x6402 motor_type
Object Code	Variable
Description	This object shall indicate the type of motor attached to and driven by the drive device.

Sub	0x00
Name	motor_type
Data Type	UNSIGNED16
Access	rw
Defaultvalue
Low Limit	0
High Limit	65535
PDO Mapping	no

---

Object: 0x6403 motor_catalogue_number
Object Code	Variable
Description	This object shall indicate the motor catalogue number (nameplate number) provided by the motor manufacturer. If the number is not assigned yet, this object shall indicate this by /0 (empty string).

Sub	0x00
Name	motor_catalogue_number
Data Type	VISIBLE_STRING
Access	const
Defaultvalue	TBD
PDO Mapping	no

---

Object: 0x6404 motor_manufacturer
Object Code	Variable
Description	This object shall indicate the name of the motor manufacturer. If the name is not assigned yet, this object shall indicate this by /0 (empty string).

Sub	0x00
Name	motor_manufacturer
Data Type	VISIBLE_STRING
Access	const
Defaultvalue	ez-wheel
PDO Mapping	no

---

Object: 0x6405 http_motor_catalogue_address
Object Code	Variable
Description	This object shall indicate the assigned web-address of the motor catalogue. If the address is not assigned yet, this object shall indicate this by /0 (empty string).

Sub	0x00
Name	http_motor_catalogue_address
Data Type	VISIBLE_STRING
Access	const
Defaultvalue	TBD
PDO Mapping	no

---

Object: 0x6406 motor_calibration_date
Object Code	Variable
Description	This object shall indicate the assigned date of the last motor inspection. If the date is not assigned yet, this object shall indicate this by a value of 0.

Sub	0x00
Name	motor_calibration_date
Data Type	TIME_OF_DAY
Access	rw
Defaultvalue
Low Limit	0
High Limit	0
PDO Mapping	no

---

Object: 0x6407 motor_service_period
Object Code	Variable
Description	This object shall indicate the assigned motor service period. If the period is not assigned yet, this object shall indicate this by 0000 0000h. The value shall be given in multiples of hours.

Sub	0x00
Name	motor_service_period
Data Type	UNSIGNED32
Access	rw
Defaultvalue
Low Limit	0
High Limit	4294967295
PDO Mapping	no

---

Object: 0x6502 supported_drive_modes
Object Code	Variable
Description	This object shall provide information on the supported drive modes.

Sub	0x00
Name	supported_drive_modes
Data Type	UNSIGNED32
Access	ro
Defaultvalue	2
Low Limit	0
High Limit	4294967295
PDO Mapping	optional, TPDO only

---

Object: 0x6503 drive_catalogue_number
Object Code	Variable
Description	This object shall indicate the assigned manufacturers drive catalogue number (nameplate number).

Sub	0x00
Name	drive_catalogue_number
Data Type	VISIBLE_STRING
Access	const
Defaultvalue	TBD
PDO Mapping	no

---

Object: 0x6505 http_drive_catalogue_address
Object Code	Variable
Description	This object shall indicate the assigned web address of the drive manufacturer. If the address is not assigned yet, this object shall indicate this by /0 (empty string).

Sub	0x00
Name	http_drive_catalogue_address
Data Type	VISIBLE_STRING
Access	const
Defaultvalue	TBD
PDO Mapping	no

---

Object: 0x6600 Time unit
Object Code	Variable
Description	This parameter shall indicate the configured SI unit used for time parameters in this document. The values for the fields prefix, denominator, and numerator shall comply with /CiA303-2/ and /IEC61800-7-201/.

Sub	0x00
Name	Time unit
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0xFD030000
Low Limit	0
High Limit	4294967295
PDO Mapping	no

---

Object: 0x6601 Position unit
Object Code	Variable
Description	This parameter shall indicate the configured SI unit used for position parameters in this document. The values for the fields prefix, denominator, and numerator shall comply with /CiA303-2/ and /IEC61800-7-201/.

Sub	0x00
Name	Position unit
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x00B50000
Low Limit	0
High Limit	4294967295
PDO Mapping	no

---

Object: 0x6602 Velocity unit
Object Code	Variable
Description	This parameter shall indicate the configured SI unit used for velocity parameters in this document. The values for the fields prefix, denominator, and numerator shall comply with /CiA303-2/ and /IEC61800-7-201/.

Sub	0x00
Name	Velocity unit
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x00B44700
Low Limit	0
High Limit	4294967295
PDO Mapping	no

---

Object: 0x6603 Acceleration unit
Object Code	Variable
Description	This parameter shall indicate the configured SI unit used for acceleration and deceleration parameters in this document. The values for the fields prefix, denominator, and numerator shall comply with /CiA303-2/ and /IEC61800-7-201/.

Sub	0x00
Name	Acceleration unit
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x03A00300
Low Limit	0
High Limit	4294967295
PDO Mapping	no

---

Object: 0x6607 Safety application configuration valid
Object Code	Variable
Description	This object shall contain an acknowledgement flag for a valid safety application configuration. This object is automatically set to invalid (value 00h) if the cyclical check of the configured application parameters of one of the safety functions has failed. The object shall be set to valid (value A5h), after the safety application configuration is completed and the safety application configuration signature object for the appropriate safety function is validated.

Sub	0x00
Name	Safety application configuration valid
Data Type	UNSIGNED8
Access	rw
Defaultvalue
Low Limit	0
High Limit	255
PDO Mapping	no

---

Object: 0x6608 Safety application configuration failed
Object Code	Array
Description	This object shall indicate the information for which safety drive function the cyclical check of the configured application objects has failed. Figure 2 specifies the object structure. The field safety application configuration shall provide the number of the corresponding safety application configuration signature object. The field sub-index shall provide the number of the failed instance (corresponding sub-index of the safety application configuration signature object). A value of 0000 0000h shall indicate a reserved entry (no meaning).

Sub	0x00
Name	Safety application configuration failed Highest sub-index supported
Data Type	UNSIGNED8
Access	ro
Defaultvalue	16
Low Limit	0
High Limit	255
PDO Mapping	no

Sub	0x01
Name	Safety application configuration failed 1
Data Type	UNSIGNED32
Access	rw
Defaultvalue
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x02
Name	Safety application configuration failed 2
Data Type	UNSIGNED32
Access	rw
Defaultvalue
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x03
Name	Safety application configuration failed 3
Data Type	UNSIGNED32
Access	rw
Defaultvalue
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x04
Name	Safety application configuration failed 4
Data Type	UNSIGNED32
Access	rw
Defaultvalue
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x05
Name	Safety application configuration failed 5
Data Type	UNSIGNED32
Access	rw
Defaultvalue
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x06
Name	Safety application configuration failed 6
Data Type	UNSIGNED32
Access	rw
Defaultvalue
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x07
Name	Safety application configuration failed 7
Data Type	UNSIGNED32
Access	rw
Defaultvalue
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x08
Name	Safety application configuration failed 8
Data Type	UNSIGNED32
Access	rw
Defaultvalue
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x09
Name	Safety application configuration failed 9
Data Type	UNSIGNED32
Access	rw
Defaultvalue
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x0a
Name	Safety application configuration failed 10
Data Type	UNSIGNED32
Access	rw
Defaultvalue
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x0b
Name	Safety application configuration failed 11
Data Type	UNSIGNED32
Access	rw
Defaultvalue
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x0c
Name	Safety application configuration failed 12
Data Type	UNSIGNED32
Access	rw
Defaultvalue
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x0d
Name	Safety application configuration failed 13
Data Type	UNSIGNED32
Access	rw
Defaultvalue
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x0e
Name	Safety application configuration failed 14
Data Type	UNSIGNED32
Access	rw
Defaultvalue
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x0f
Name	Safety application configuration failed 15
Data Type	UNSIGNED32
Access	rw
Defaultvalue
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x10
Name	Safety application configuration failed 16
Data Type	UNSIGNED32
Access	rw
Defaultvalue
Low Limit	0
High Limit	4294967295
PDO Mapping	no

---

Object: 0x6611 Safe position actual value i32
Object Code	Variable
Description	This parameter shall provide the safe position actual value.

Sub	0x00
Name	Safe position actual value i32
Data Type	INTEGER32
Access	ro
Defaultvalue
Low Limit	-2147483648
High Limit	2147483647
PDO Mapping	optional, TPDO only

---

Object: 0x6613 Safe velocity actual value i32
Object Code	Variable
Description	This parameter shall provide the safe velocity actual value.

Sub	0x00
Name	Safe velocity actual value i32
Data Type	INTEGER32
Access	ro
Defaultvalue
Low Limit	-2147483648
High Limit	2147483647
PDO Mapping	optional, TPDO only

---

Object: 0x661a Inverted safe position actual value i32
Object Code	Variable
Description	This parameter shall provide the bit-wise inverted safe position actual value.

Sub	0x00
Name	Inverted safe position actual value i32
Data Type	INTEGER32
Access	ro
Defaultvalue
Low Limit	-2147483648
High Limit	2147483647
PDO Mapping	optional, TPDO only

---

Object: 0x661c Inverted safe velocity actual value i32
Object Code	Variable
Description	This parameter shall provide the bit-wise inverted safe velocity actual value.

Sub	0x00
Name	Inverted safe velocity actual value i32
Data Type	INTEGER32
Access	ro
Defaultvalue
Low Limit	-2147483648
High Limit	2147483647
PDO Mapping	optional, TPDO only

---

Object: 0x6620 Safety controlwords
Object Code	Array
Description	This parameter shall indicate the received safety controlwords. Figure 3 specifies the parameter structure. The commands (COM1 to COM8) given in the safety controlword shall request the activation (0b) and deactivation (1b) of dedicated safety functions of the drive. The relation of the COM fields to safety functions is configurable by means of the controlword mapping parameters (66F0h to 66F7h). In the safety controlword 1, the COM1 bit shall contain the STO command (see 6640h). In the safety controlword 1, the COM8 bit shall contain the error acknowledge command (see 6632h) by the host controller for errors reported in the safety statusword by the drive.

Sub	0x00
Name	Highest sub index supported
Data Type	UNSIGNED8
Access	ro
Defaultvalue	8
Low Limit	1
High Limit	254
PDO Mapping	no

Sub	0x01
Name	safety_controlword_can1
Data Type	UNSIGNED8
Access	rw
Defaultvalue	127
Low Limit	0
High Limit	255
PDO Mapping	optional, RPDO only

Sub	0x02
Name	safety_controlword_can2
Data Type	UNSIGNED8
Access	rw
Defaultvalue	127
Low Limit	0
High Limit	255
PDO Mapping	optional, RPDO only

Sub	0x03
Name	safety_controlword_can3
Data Type	UNSIGNED8
Access	rw
Defaultvalue	127
Low Limit	0
High Limit	255
PDO Mapping	optional, RPDO only

Sub	0x04
Name	safety_controlword_can4
Data Type	UNSIGNED8
Access	rw
Defaultvalue	127
Low Limit	0
High Limit	255
PDO Mapping	optional, RPDO only

Sub	0x05
Name	safety_controlword_can5
Data Type	UNSIGNED8
Access	rw
Defaultvalue	127
Low Limit	0
High Limit	255
PDO Mapping	optional, RPDO only

Sub	0x06
Name	safety_controlword_can6
Data Type	UNSIGNED8
Access	rw
Defaultvalue	127
Low Limit	0
High Limit	255
PDO Mapping	optional, RPDO only

Sub	0x07
Name	safety_controlword_can7
Data Type	UNSIGNED8
Access	rw
Defaultvalue	127
Low Limit	0
High Limit	255
PDO Mapping	optional, RPDO only

Sub	0x08
Name	safety_controlword_can8
Data Type	UNSIGNED8
Access	rw
Defaultvalue	127
Low Limit	0
High Limit	255
PDO Mapping	optional, RPDO only

---

Object: 0x6621 Safety statuswords
Object Code	Array
Description	This parameter shall provide the safety statuswords. Figure 4 specifies the parameter structure. The states of dedicated safety functions (STA1 to STA8) shall provide information if it is activated (1b) or if it is not activated (0b). The relation of the STA fields to safety functions is configurable by means of the statusword mapping parameters (66F8h to 66FFh). In the safety statusword 1, the STA1 bit shall provide the STO status (see 6644h). In the safety statusword 1, the STA8 bit shall provide the error acknowledge status (see 6633h).

Sub	0x00
Name	Highest sub index supported
Data Type	UNSIGNED8
Access	ro
Defaultvalue	8
Low Limit	1
High Limit	254
PDO Mapping	no

Sub	0x01
Name	safety_statusword_can1
Data Type	UNSIGNED8
Access	rw
Defaultvalue
Low Limit	0
High Limit	255
PDO Mapping	optional, TPDO only

Sub	0x02
Name	safety_statusword_can2
Data Type	UNSIGNED8
Access	rw
Defaultvalue
Low Limit	0
High Limit	255
PDO Mapping	optional, TPDO only

Sub	0x03
Name	safety_statusword_can3
Data Type	UNSIGNED8
Access	rw
Defaultvalue
Low Limit	0
High Limit	255
PDO Mapping	optional, TPDO only

Sub	0x04
Name	safety_statusword_can4
Data Type	UNSIGNED8
Access	rw
Defaultvalue
Low Limit	0
High Limit	255
PDO Mapping	optional, TPDO only

Sub	0x05
Name	safety_statusword_can5
Data Type	UNSIGNED8
Access	rw
Defaultvalue
Low Limit	0
High Limit	255
PDO Mapping	optional, TPDO only

Sub	0x06
Name	safety_statusword_can6
Data Type	UNSIGNED8
Access	rw
Defaultvalue
Low Limit	0
High Limit	255
PDO Mapping	optional, TPDO only

Sub	0x07
Name	safety_statusword_can7
Data Type	UNSIGNED8
Access	rw
Defaultvalue
Low Limit	0
High Limit	255
PDO Mapping	optional, TPDO only

Sub	0x08
Name	safety_statusword_can8
Data Type	UNSIGNED8
Access	rw
Defaultvalue
Low Limit	0
High Limit	255
PDO Mapping	optional, TPDO only

---

Object: 0x6622 Inverted safety controlwords
Object Code	Array
Description	This parameter shall indicate the received inverted safety controlwords. They shall correspond to the controlwords in 6620h.

Sub	0x00
Name	Highest sub index supported
Data Type	UNSIGNED8
Access	ro
Defaultvalue	8
Low Limit	1
High Limit	254
PDO Mapping	no

Sub	0x01
Name	inverted_safety_controlword_can1
Data Type	UNSIGNED8
Access	rw
Defaultvalue	128
Low Limit	0
High Limit	255
PDO Mapping	optional, RPDO only

Sub	0x02
Name	inverted_safety_controlword_can2
Data Type	UNSIGNED8
Access	rw
Defaultvalue	128
Low Limit	0
High Limit	255
PDO Mapping	optional, RPDO only

Sub	0x03
Name	inverted_safety_controlword_can3
Data Type	UNSIGNED8
Access	rw
Defaultvalue	128
Low Limit	0
High Limit	255
PDO Mapping	optional, RPDO only

Sub	0x04
Name	inverted_safety_controlword_can4
Data Type	UNSIGNED8
Access	rw
Defaultvalue	128
Low Limit	0
High Limit	255
PDO Mapping	optional, RPDO only

Sub	0x05
Name	inverted_safety_controlword_can5
Data Type	UNSIGNED8
Access	rw
Defaultvalue	128
Low Limit	0
High Limit	255
PDO Mapping	optional, RPDO only

Sub	0x06
Name	inverted_safety_controlword_can6
Data Type	UNSIGNED8
Access	rw
Defaultvalue	128
Low Limit	0
High Limit	255
PDO Mapping	optional, RPDO only

Sub	0x07
Name	inverted_safety_controlword_can7
Data Type	UNSIGNED8
Access	rw
Defaultvalue	128
Low Limit	0
High Limit	255
PDO Mapping	optional, RPDO only

Sub	0x08
Name	inverted_safety_controlword_can8
Data Type	UNSIGNED8
Access	rw
Defaultvalue	128
Low Limit	0
High Limit	255
PDO Mapping	optional, RPDO only

---

Object: 0x6623 Inverted safety statuswords
Object Code	Array
Description	This parameter shall provide the bit-wise inverted safety statuswords. They shall correspond to the statuswords in 6621h.

Sub	0x00
Name	Highest sub index supported
Data Type	UNSIGNED8
Access	ro
Defaultvalue	8
Low Limit	1
High Limit	254
PDO Mapping	no

Sub	0x01
Name	inverted_safety_statusword_can1
Data Type	UNSIGNED8
Access	rw
Defaultvalue
Low Limit	0
High Limit	255
PDO Mapping	optional, TPDO only

Sub	0x02
Name	inverted_safety_statusword_can2
Data Type	UNSIGNED8
Access	rw
Defaultvalue
Low Limit	0
High Limit	255
PDO Mapping	optional, TPDO only

Sub	0x03
Name	inverted_safety_statusword_can3
Data Type	UNSIGNED8
Access	rw
Defaultvalue
Low Limit	0
High Limit	255
PDO Mapping	optional, TPDO only

Sub	0x04
Name	inverted_safety_statusword_can4
Data Type	UNSIGNED8
Access	rw
Defaultvalue
Low Limit	0
High Limit	255
PDO Mapping	optional, TPDO only

Sub	0x05
Name	inverted_safety_statusword_can5
Data Type	UNSIGNED8
Access	rw
Defaultvalue
Low Limit	0
High Limit	255
PDO Mapping	optional, TPDO only

Sub	0x06
Name	inverted_safety_statusword_can6
Data Type	UNSIGNED8
Access	rw
Defaultvalue
Low Limit	0
High Limit	255
PDO Mapping	optional, TPDO only

Sub	0x07
Name	inverted_safety_statusword_can7
Data Type	UNSIGNED8
Access	rw
Defaultvalue
Low Limit	0
High Limit	255
PDO Mapping	optional, TPDO only

Sub	0x08
Name	inverted_safety_statusword_can8
Data Type	UNSIGNED8
Access	rw
Defaultvalue
Low Limit	0
High Limit	255
PDO Mapping	optional, TPDO only

---

Object: 0x6630 Restart acknowledge command
Object Code	Variable
Description	This parameter shall restart the acknowledgement function, when a TRUE value is written. For details see /ETG6100-2/.

Sub	0x00
Name	Restart acknowledge command
Data Type	BOOLEAN
Access	wo
Defaultvalue
Low Limit	0
High Limit	1
PDO Mapping	no

---

Object: 0x6631 Restart acknowledge status
Object Code	Variable
Description	This parameter shall provide the status of the acknowledgement function. The value of TRUE shall indicate that the restart acknowledge request is pending. The value of FALSE shall indicate that the restart acknowledge function is activated.

Sub	0x00
Name	Restart acknowledge status
Data Type	BOOLEAN
Access	ro
Defaultvalue
Low Limit	0
High Limit	1
PDO Mapping	no

---

Object: 0x6632 Error acknowledge command
Object Code	Variable
Description	This parameter shall restart the error acknowledgement function, when a TRUE value is written. For details see /ETG6100-2/.

Sub	0x00
Name	Error acknowledge command
Data Type	BOOLEAN
Access	wo
Defaultvalue
Low Limit	0
High Limit	1
PDO Mapping	no

---

Object: 0x6633 Error acknowledge status
Object Code	Variable
Description	This parameter shall provide the status of the error acknowledgement function. The value of TRUE shall indicate that the error acknowledge request is pending. The value of FALSE shall indicate that the error acknowledge function is activated.

Sub	0x00
Name	Error acknowledge status
Data Type	BOOLEAN
Access	ro
Defaultvalue
Low Limit	0
High Limit	1
PDO Mapping	no

---

Object: 0x6640 STO command
Object Code	Variable
Description	This parameter shall provide the STO command received within the controlword 1 (see object 66F0h for controlword 1 mapping) by means of an SRDO. A value of TRUE shall deactivate the STO function, and a value of FALSE shall activate the STO function.

Sub	0x00
Name	STO command
Data Type	BOOLEAN
Access	ro
Defaultvalue
Low Limit	0
High Limit	1
PDO Mapping	no

---

Object: 0x6641 STO restart acknowledge behavior
Object Code	Variable
Description	This parameter shall indicate the configured STO restart acknowledge behavior. A value of TRUE shall indicate that the STO restart is manual, and a value of FALSE shall indicate that the STO restart is automatically performed.

Sub	0x00
Name	STO restart acknowledge behavior
Data Type	BOOLEAN
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	1
PDO Mapping	no

---

Object: 0x6643 STO activate SBC
Object Code	Variable
Description	This parameter shall command to close the brakes using the referenced SBC command. Figure 5 specifies the parameter structure. The value shall indicate, which command shall be performed by means of a pointer (index and sub-index) to the command parameter e.g. 6688 0100h. A value of 0000 0000h shall indicate that no brake shall be used.

Sub	0x00
Name	STO activate SBC
Data Type	UNSIGNED32
Access	rw
Low Limit	0
High Limit	4294967295
PDO Mapping	no

---

Object: 0x6644 STO status
Object Code	Variable
Description	This parameter shall provide the current STO status, which is mapped into the statusword 1 (see object 66F8h for statusword 1 mapping), provided via an SRDO. A value of TRUE shall indicate that the STO function is active, and a value of FALSE shall indicate that the STO function is not active.

Sub	0x00
Name	STO status
Data Type	BOOLEAN
Access	ro
Defaultvalue
Low Limit	0
High Limit	1
PDO Mapping	no

---

Object: 0x6645 STO safety application configuration signature
Object Code	Array
Description	This object shall provide the configuration checksum for STO safety application parameters. The sub-indices 01h to 254h relate to the corresponding instances and are calculated in the same manner. The CRC value calculation is given in the safety configuration signature object (see /EN50325-5/).

Sub	0x00
Name	STO safety application configuration signature Highest sub-index supported
Data Type	UNSIGNED8
Access	ro
Defaultvalue	1
Low Limit	1
High Limit	254
PDO Mapping	no

Sub	0x01
Name	STO safety application configuration signature 1
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0xDF71
Low Limit	0
High Limit	65535
PDO Mapping	no

---

Object: 0x6660 SBC commands
Object Code	Array
Description	This parameter shall provide the SBC commands, which may be received within a controlword(s) by means of an SRDO. A value of TRUE shall deactivate the dedicated SBC function, and a value of FALSE shall activate the dedicated SBC function. The sub-indices shall correspond to the sub-indices of the following parameters: 6661h and 6667h.

Sub	0x00
Name	SBC commands
Data Type	UNSIGNED8
Access	ro
Defaultvalue	3
Low Limit	1
High Limit	254
PDO Mapping	no

Sub	0x01
Name	SBC command 1
Data Type	BOOLEAN
Access	ro
Defaultvalue
Low Limit	0
High Limit	1
PDO Mapping	no

Sub	0x02
Name	SBC command 2
Data Type	BOOLEAN
Access	ro
Defaultvalue
Low Limit	0
High Limit	1
PDO Mapping	no

Sub	0x03
Name	SBC command 3
Data Type	BOOLEAN
Access	ro
Defaultvalue
Low Limit	0
High Limit	1
PDO Mapping	no

---

Object: 0x6661 SBC brake time delay
Object Code	Array
Description	This parameter shall indicate the configured time to close the brake(s). For details see /ETG6100-2/.

Sub	0x00
Name	SBC brake time delay
Data Type	UNSIGNED8
Access	ro
Defaultvalue	3
Low Limit	1
High Limit	254
PDO Mapping	no

Sub	0x01
Name	SBC brake time delay 1
Data Type	UNSIGNED16
Access	ro
Defaultvalue	0
Low Limit	0
High Limit	65535
PDO Mapping	no

Sub	0x02
Name	SBC brake time delay 2
Data Type	UNSIGNED16
Access	ro
Defaultvalue	0
Low Limit	0
High Limit	65535
PDO Mapping	no

Sub	0x03
Name	SBC brake time delay 3
Data Type	UNSIGNED16
Access	ro
Defaultvalue	0
Low Limit	0
High Limit	65535
PDO Mapping	no

---

Object: 0x6662 SBC safety application configuration signature
Object Code	Array
Description	This object shall provide the configuration checksum for SBC safety application parameters. The sub-indices 01h to 254h relate to the corresponding instances and are calculated in the same manner. The CRC value calculation is given in the safety configuration signature object (see /EN50325-5/). The CRC generator polynomial is a CRC-16-CCITT polynomial and is illustrated in formula

Sub	0x00
Name	SBC safety application configuration signature
Data Type	UNSIGNED8
Access	ro
Defaultvalue	3
Low Limit	1
High Limit	254
PDO Mapping	no

Sub	0x01
Name	SBC safety application configuration signature 1
Data Type	UNSIGNED16
Access	rw
Low Limit	0
High Limit	65535
PDO Mapping	no

Sub	0x02
Name	SBC safety application configuration signature 2
Data Type	UNSIGNED16
Access	rw
Low Limit	0
High Limit	65535
PDO Mapping	no

Sub	0x03
Name	SBC safety application configuration signature 3
Data Type	UNSIGNED16
Access	rw
Low Limit	0
High Limit	65535
PDO Mapping	no

---

Object: 0x6667 SBC statuses
Object Code	Array
Description	This parameter shall provide the current SBC statuses, which may be mapped into a statusword(s) provided via SRDO. A value of TRUE shall indicate that the dedicated SBC function is active, and a value of FALSE shall indicate that the dedicated SBC function is not active. The sub-indices shall correspond to the sub-indices of the following parameters: 6660h and 6661h.

Sub	0x00
Name	SBC statuses
Data Type	UNSIGNED8
Access	ro
Defaultvalue	3
Low Limit	1
High Limit	254
PDO Mapping	no

Sub	0x01
Name	SBC status 1
Data Type	BOOLEAN
Access	ro
Defaultvalue
Low Limit	0
High Limit	1
PDO Mapping	no

Sub	0x02
Name	SBC status 2
Data Type	BOOLEAN
Access	ro
Defaultvalue
Low Limit	0
High Limit	1
PDO Mapping	no

Sub	0x03
Name	SBC status 3
Data Type	BOOLEAN
Access	ro
Defaultvalue
Low Limit	0
High Limit	1
PDO Mapping	no

---

Object: 0x6690 SLS commands
Object Code	Array
Description	This parameter shall provide the SLS commands, which may be received within a controlword(s) by means of an SRDO. A value of TRUE shall deactivate the dedicated SLS function, and a value of FALSE shall activate the dedicated SLS function. The sub-indices shall correspond to the sub-indices of the following parameters: 6691h, 6692h, 6693h, 6694h, 6695h, 6696h, 6697h, and 669Fh.

Sub	0x00
Name	SLS commands
Data Type	UNSIGNED8
Access	ro
Defaultvalue	8
Low Limit	1
High Limit	254
PDO Mapping	no

Sub	0x01
Name	SLS command 1
Data Type	BOOLEAN
Access	ro
Defaultvalue
Low Limit	0
High Limit	1
PDO Mapping	no

Sub	0x02
Name	SLS command 2
Data Type	BOOLEAN
Access	ro
Defaultvalue
Low Limit	0
High Limit	1
PDO Mapping	no

Sub	0x03
Name	SLS command 3
Data Type	BOOLEAN
Access	ro
Defaultvalue
Low Limit	0
High Limit	1
PDO Mapping	no

Sub	0x04
Name	SLS command 4
Data Type	BOOLEAN
Access	ro
Defaultvalue
Low Limit	0
High Limit	1
PDO Mapping	no

Sub	0x05
Name	SLS command 5
Data Type	BOOLEAN
Access	ro
Defaultvalue
Low Limit	0
High Limit	1
PDO Mapping	no

Sub	0x06
Name	SLS command 6
Data Type	BOOLEAN
Access	ro
Defaultvalue
Low Limit	0
High Limit	1
PDO Mapping	no

Sub	0x07
Name	SLS command 7
Data Type	BOOLEAN
Access	ro
Defaultvalue
Low Limit	0
High Limit	1
PDO Mapping	no

Sub	0x08
Name	SLS command 8
Data Type	BOOLEAN
Access	ro
Defaultvalue
Low Limit	0
High Limit	1
PDO Mapping	no

---

Object: 0x6691 SLS time to velocity monitoring
Object Code	Array
Description	This parameter shall indicate the configured delay of activating the SLS function. For details see /ETG6100-2/.

Sub	0x00
Name	SLS time to velocity monitoring
Data Type	UNSIGNED8
Access	ro
Defaultvalue	8
Low Limit	1
High Limit	254
PDO Mapping	no

Sub	0x01
Name	SLS time to velocity monitoring 1
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	65535
PDO Mapping	no

Sub	0x02
Name	SLS time to velocity monitoring 2
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	65535
PDO Mapping	no

Sub	0x03
Name	SLS time to velocity monitoring 3
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	65535
PDO Mapping	no

Sub	0x04
Name	SLS time to velocity monitoring 4
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	65535
PDO Mapping	no

Sub	0x05
Name	SLS time to velocity monitoring 5
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	65535
PDO Mapping	no

Sub	0x06
Name	SLS time to velocity monitoring 6
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	65535
PDO Mapping	no

Sub	0x07
Name	SLS time to velocity monitoring 7
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	65535
PDO Mapping	no

Sub	0x08
Name	SLS time to velocity monitoring 8
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	65535
PDO Mapping	no

---

Object: 0x6693 SLS velocity limit u32
Object Code	Array
Description	This parameter shall indicate the configured speed limit. For details see /ETG6100-2/.

Sub	0x00
Name	SLS velocity limit u32
Data Type	UNSIGNED8
Access	ro
Defaultvalue	8
Low Limit	1
High Limit	254
PDO Mapping	no

Sub	0x01
Name	SLS velocity limit u32 1
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x02
Name	SLS velocity limit u32 2
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x03
Name	SLS velocity limit u32 3
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x04
Name	SLS velocity limit u32 4
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x05
Name	SLS velocity limit u32 5
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x06
Name	SLS velocity limit u32 6
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x07
Name	SLS velocity limit u32 7
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x08
Name	SLS velocity limit u32 8
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

---

Object: 0x6694 SLS time for velocity in limits
Object Code	Array
Description	This parameter shall indicate the configured time for the velocity within the configured limits. For details see /ETG6100-2/.

Sub	0x00
Name	SLS time for velocity in limits
Data Type	UNSIGNED8
Access	ro
Defaultvalue	8
Low Limit	1
High Limit	254
PDO Mapping	no

Sub	0x01
Name	SLS time for velocity in limits 1
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	65535
PDO Mapping	no

Sub	0x02
Name	SLS time for velocity in limits 2
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	65535
PDO Mapping	no

Sub	0x03
Name	SLS time for velocity in limits 3
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	65535
PDO Mapping	no

Sub	0x04
Name	SLS time for velocity in limits 4
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	65535
PDO Mapping	no

Sub	0x05
Name	SLS time for velocity in limits 5
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	65535
PDO Mapping	no

Sub	0x06
Name	SLS time for velocity in limits 6
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	65535
PDO Mapping	no

Sub	0x07
Name	SLS time for velocity in limits 7
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	65535
PDO Mapping	no

Sub	0x08
Name	SLS time for velocity in limits 8
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	65535
PDO Mapping	no

---

Object: 0x6698 SLS error reactions
Object Code	Array
Description	This parameter shall indicate the configured SLS error reactions, when the configured velocity or deceleration limits are exceeded. The value shall indicate, which command shall be preformed locally by means of a pointer (index and sub-index) to the command parameter. A value of 0000 0000h shall indicate that no reaction is required. Figure 5 specifies the parameter structure.

Sub	0x00
Name	SLS error reactions
Data Type	UNSIGNED8
Access	ro
Defaultvalue	8
Low Limit	1
High Limit	254
PDO Mapping	no

Sub	0x01
Name	SLS error reaction 1
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x66400000
Low Limit	0
High Limit	1715470336
PDO Mapping	no

Sub	0x02
Name	SLS error reaction 2
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x66400000
Low Limit	0
High Limit	1715470336
PDO Mapping	no

Sub	0x03
Name	SLS error reaction 3
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x66400000
Low Limit	0
High Limit	1715470336
PDO Mapping	no

Sub	0x04
Name	SLS error reaction 4
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x66400000
Low Limit	0
High Limit	1715470336
PDO Mapping	no

Sub	0x05
Name	SLS error reaction 5
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x66400000
Low Limit	0
High Limit	1715470336
PDO Mapping	no

Sub	0x06
Name	SLS error reaction 6
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x66400000
Low Limit	0
High Limit	1715470336
PDO Mapping	no

Sub	0x07
Name	SLS error reaction 7
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x66400000
Low Limit	0
High Limit	1715470336
PDO Mapping	no

Sub	0x08
Name	SLS error reaction 8
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x66400000
Low Limit	0
High Limit	1715470336
PDO Mapping	no

---

Object: 0x6699 SLS safety application configuration signature
Object Code	Array
Description	This object shall provide the configuration checksum for SLS safety application parameters. The sub-indices 01h to 254h relate to the corresponding instances and are calculated in the same manner. The CRC value calculation is given in the safety configuration signature object (see /EN50325-5/).

Sub	0x00
Name	SLS safety application configuration signature
Data Type	UNSIGNED8
Access	ro
Defaultvalue	8
Low Limit	1
High Limit	254
PDO Mapping	no

Sub	0x01
Name	SLS safety application configuration signature 1
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0xAD9A
Low Limit	0
High Limit	65535
PDO Mapping	no

Sub	0x02
Name	SLS safety application configuration signature 2
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0xAD9A
Low Limit	0
High Limit	65535
PDO Mapping	no

Sub	0x03
Name	SLS safety application configuration signature 3
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0xAD9A
Low Limit	0
High Limit	65535
PDO Mapping	no

Sub	0x04
Name	SLS safety application configuration signature 4
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0xAD9A
Low Limit	0
High Limit	65535
PDO Mapping	no

Sub	0x05
Name	SLS safety application configuration signature 5
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0xAD9A
Low Limit	0
High Limit	65535
PDO Mapping	no

Sub	0x06
Name	SLS safety application configuration signature 6
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0xAD9A
Low Limit	0
High Limit	65535
PDO Mapping	no

Sub	0x07
Name	SLS safety application configuration signature 7
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0xAD9A
Low Limit	0
High Limit	65535
PDO Mapping	no

Sub	0x08
Name	SLS safety application configuration signature 8
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0xAD9A
Low Limit	0
High Limit	65535
PDO Mapping	no

---

Object: 0x669f SLS statuses
Object Code	Array
Description	This parameter shall provide the current SLS statuses, which may be mapped into a statusword(s) provided via SRDO. A value of TRUE shall indicate that the dedicated SLS function is active, and a value of FALSE shall indicate that the dedicated SLS function is not active. The sub-indices shall correspond to the sub-indices of the following parameters: 6690h, 6691h, 6692h, 6693h, 6694h, 6695h, 6696h, 6697h, and 6698h.

Sub	0x00
Name	SLS statuses
Data Type	UNSIGNED8
Access	ro
Defaultvalue	8
Low Limit	1
High Limit	254
PDO Mapping	no

Sub	0x01
Name	SLS status 1
Data Type	BOOLEAN
Access	ro
Defaultvalue
Low Limit	0
High Limit	1
PDO Mapping	no

Sub	0x02
Name	SLS status 2
Data Type	BOOLEAN
Access	ro
Defaultvalue
Low Limit	0
High Limit	1
PDO Mapping	no

Sub	0x03
Name	SLS status 3
Data Type	BOOLEAN
Access	ro
Defaultvalue
Low Limit	0
High Limit	1
PDO Mapping	no

Sub	0x04
Name	SLS status 4
Data Type	BOOLEAN
Access	ro
Defaultvalue
Low Limit	0
High Limit	1
PDO Mapping	no

Sub	0x05
Name	SLS status 5
Data Type	BOOLEAN
Access	ro
Defaultvalue
Low Limit	0
High Limit	1
PDO Mapping	no

Sub	0x06
Name	SLS status 6
Data Type	BOOLEAN
Access	ro
Defaultvalue
Low Limit	0
High Limit	1
PDO Mapping	no

Sub	0x07
Name	SLS status 7
Data Type	BOOLEAN
Access	ro
Defaultvalue
Low Limit	0
High Limit	1
PDO Mapping	no

Sub	0x08
Name	SLS status 8
Data Type	BOOLEAN
Access	ro
Defaultvalue
Low Limit	0
High Limit	1
PDO Mapping	no

---

Object: 0x66a8 SMS statuses
Object Code	Array
Description	This parameter shall provide the current SMS statuses. A value of TRUE shall indicate that the dedicated SMS function is active, and a value of FALSE shall indicate that the dedicated SMS function is not active. The sub-indices shall correspond to the sub-indices of the following parameters: 66A9 h , 66AA h , 66AB h , 66AC h , and 66AD h.

Sub	0x00
Name	SMS statuses
Data Type	UNSIGNED8
Access	ro
Defaultvalue	1
Low Limit	1
High Limit	254
PDO Mapping	no

Sub	0x01
Name	SMS status 1
Data Type	BOOLEAN
Access	ro
Defaultvalue
Low Limit	0
High Limit	1
PDO Mapping	no

---

Object: 0x66aa SMS velocity maximum positive u32
Object Code	Array
Description	This parameter shall indicate the configured maximum velocity in positive direction. For details see /ETG6100-2/.

Sub	0x00
Name	SMS velocity maximum positive u32
Data Type	UNSIGNED8
Access	ro
Defaultvalue	1
Low Limit	1
High Limit	254
PDO Mapping	no

Sub	0x01
Name	SMS velocity maximum positive u32 1
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

---

Object: 0x66ac SMS velocity maximum negative u32
Object Code	Array
Description	This parameter shall indicate the configured maximum velocity in negative direction. For details see /ETG6100-2/.

Sub	0x00
Name	SMS velocity maximum negative u32
Data Type	UNSIGNED8
Access	ro
Defaultvalue	1
Low Limit	1
High Limit	254
PDO Mapping	no

Sub	0x01
Name	SMS velocity maximum negative u32 1
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

---

Object: 0x66ad SMS error reactions
Object Code	Array
Description	This parameter shall indicate the configured SMS error reactions, when the configured velocity limits are exceeded. The value shall indicate, which command shall be performed locally by means of a pointer (index and sub-index) to the command parameter. A value of 0000 0000 h shall indicate that no reaction is required.

Sub	0x00
Name	SMS error reactions
Data Type	UNSIGNED8
Access	ro
Defaultvalue	1
Low Limit	1
High Limit	254
PDO Mapping	no

Sub	0x01
Name	SMS error reaction 1
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0x66400000
Low Limit	0
High Limit	1715470336
PDO Mapping	no

---

Object: 0x66ae SMS safety application configuration signature
Object Code	Array
Description	This object shall provide the configuration checksum for SMS safety application parameters. The sub-indices 01 h to 254 h relate to the corresponding instances and are calculated in the same manner. The CRC value calculation is given in the safety configuration signature object (see /EN50325-5/).

Sub	0x00
Name	SMS safety application configuration signature
Data Type	UNSIGNED8
Access	ro
Defaultvalue	1
Low Limit	1
High Limit	254
PDO Mapping	no

Sub	0x01
Name	SMS safety application configuration signature 1
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0x7830
Low Limit	0
High Limit	65535
PDO Mapping	no

---

Object: 0x66d0 SDIp commands
Object Code	Array
Description	This parameter shall provide the SDIp commands, which may be received within a controlword(s) by means of an SRDO. For definition of SDIp see /ETG6100-2/. A value of TRUE shall deactivate the dedicated SDIp function, and a value of FALSE shall activate the dedicated SDIp function. The sub-indices shall correspond to the sub-indices of the following parameters: 66D2h, 66D3h, 66D4h, 66D5h, and 66DEh.

Sub	0x00
Name	SDIp commands
Data Type	UNSIGNED8
Access	ro
Defaultvalue	2
Low Limit	1
High Limit	254
PDO Mapping	no

Sub	0x01
Name	SDIp command 1
Data Type	BOOLEAN
Access	ro
Defaultvalue
Low Limit	0
High Limit	1
PDO Mapping	no

Sub	0x02
Name	SDIp command 2
Data Type	BOOLEAN
Access	ro
Defaultvalue
Low Limit	0
High Limit	1
PDO Mapping	no

---

Object: 0x66d1 SDIn commands
Object Code	Array
Description	This parameter shall provide the SDIn commands, which may be received within a controlword(s) by means of an SRDO. For definition of SDIn see /ETG6100-2/. A value of TRUE shall deactivate the dedicated SDIn function, and a value of FALSE shall activate the dedicated SDIn function. The sub-indices shall correspond to the sub-indices of the following parameters: 66D2h, 66D3h, 66D4h, 66D5h, and 66DFh.

Sub	0x00
Name	SDIn commands
Data Type	UNSIGNED8
Access	ro
Defaultvalue	2
Low Limit	1
High Limit	254
PDO Mapping	no

Sub	0x01
Name	SDIn command 1
Data Type	BOOLEAN
Access	ro
Defaultvalue
Low Limit	0
High Limit	1
PDO Mapping	no

Sub	0x02
Name	SDIn command 2
Data Type	BOOLEAN
Access	ro
Defaultvalue
Low Limit	0
High Limit	1
PDO Mapping	no

---

Object: 0x66d3 SDI position zero window u32
Object Code	Array
Description	This parameter shall indicate the configured position window for the stop position. For details see /ETG6100-2/.

Sub	0x00
Name	SDI position zero window u32
Data Type	UNSIGNED8
Access	ro
Defaultvalue	2
Low Limit	1
High Limit	254
PDO Mapping	no

Sub	0x01
Name	SDI position zero window u32 1
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x02
Name	SDI position zero window u32 2
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

---

Object: 0x66d5 SDI velocity zero window u32
Object Code	Array
Description	This parameter shall indicate the configured velocity within the zero-window. For details see /ETG6100-2/.

Sub	0x00
Name	SDI velocity zero window u32
Data Type	UNSIGNED8
Access	ro
Defaultvalue	2
Low Limit	1
High Limit	254
PDO Mapping	no

Sub	0x01
Name	SDI velocity zero window u32 1
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x02
Name	SDI velocity zero window u32 2
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

---

Object: 0x66d6 SDI safety application configuration signature
Object Code	Array
Description	This object shall provide the configuration checksum for SDI safety application parameters. The sub-indices 01h to 254h relate to the corresponding instances and are calculated in the same manner. The CRC value calculation is given in the safety configuration signature object (see /EN50325-5/).

Sub	0x00
Name	SDI safety application configuration signature
Data Type	UNSIGNED8
Access	ro
Defaultvalue	2
Low Limit	1
High Limit	254
PDO Mapping	no

Sub	0x01
Name	SDI safety application configuration signature 1
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0xE896
Low Limit	0
High Limit	65535
PDO Mapping	no

Sub	0x02
Name	SDI safety application configuration signature 2
Data Type	UNSIGNED16
Access	rw
Defaultvalue	0xE896
Low Limit	0
High Limit	65535
PDO Mapping	no

---

Object: 0x66de SDIp statuses
Object Code	Array
Description	This parameter shall provide the current SDIp statuses, which may be mapped into a statusword(s) provided via SRDO. A value of TRUE shall indicate that the dedicated SDIp function is active, and a value of FALSE shall indicate that the dedicated SDIp function is not active. The sub-indices shall correspond to the sub-indices of the following parameters: 66D0h, 66D2h, 66D3h, 66D4h, and 66D5h.

Sub	0x00
Name	SDIp statuses
Data Type	UNSIGNED8
Access	ro
Defaultvalue	2
Low Limit	1
High Limit	254
PDO Mapping	no

Sub	0x01
Name	SDIp status 1
Data Type	BOOLEAN
Access	ro
Defaultvalue
Low Limit	0
High Limit	1
PDO Mapping	no

Sub	0x02
Name	SDIp status 2
Data Type	BOOLEAN
Access	ro
Defaultvalue
Low Limit	0
High Limit	1
PDO Mapping	no

---

Object: 0x66df SDIn statuses
Object Code	Array
Description	This parameter shall provide the current SDIn statuses, which may be mapped into a statusword(s) provided via SRDO. A value of TRUE shall indicate that the dedicated SDIn function is active, and a value of FALSE shall indicate that the dedicated SDIn function is not active. The sub-indices shall correspond to the sub-indices of the following parameters: 66D1h, 66D2h, 66D3h, 66D4h, and 66D5h.

Sub	0x00
Name	SDIn statuses
Data Type	UNSIGNED8
Access	ro
Defaultvalue	2
Low Limit	1
High Limit	254
PDO Mapping	no

Sub	0x01
Name	SDIn status 1
Data Type	BOOLEAN
Access	ro
Defaultvalue
Low Limit	0
High Limit	1
PDO Mapping	no

Sub	0x02
Name	SDIn status 2
Data Type	BOOLEAN
Access	ro
Defaultvalue
Low Limit	0
High Limit	1
PDO Mapping	no

---

Object: 0x66f0 ezw_safety_word_scw_mapping_cw1
Object Code	Array
Description	This parameter shall indicate the configured mapping of the fields COM1 to COM8. The subindices shall point by means of index and sub-index to the commands to be mapped into the controlword. A value of 0000 0000h shall indicate a reserved entry, meaning this COM field shall be ignored.

Sub	0x00
Name	ezw_safety_word_scw_mapping_cw1
Data Type	UNSIGNED8
Access	ro
Defaultvalue	8
Low Limit	0
High Limit	8
PDO Mapping	no

Sub	0x01
Name	scw_cw_can_1_bit0
Data Type	UNSIGNED32
Access	ro
Defaultvalue	0x66400000
Low Limit	0x66400000
High Limit	0x66400000
PDO Mapping	no

Sub	0x02
Name	scw_cw_can_1_bit1
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x03
Name	scw_cw_can_1_bit2
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x04
Name	scw_cw_can_1_bit3
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x05
Name	scw_cw_can_1_bit4
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x06
Name	scw_cw_can_1_bit5
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x07
Name	scw_cw_can_1_bit6
Data Type	UNSIGNED32
Access	ro
Defaultvalue	0x66300000
Low Limit	0x66300000
High Limit	0x66300000
PDO Mapping	no

Sub	0x08
Name	scw_cw_can_1_bit7
Data Type	UNSIGNED32
Access	ro
Defaultvalue	0x66320000
Low Limit	0x66320000
High Limit	0x66320000
PDO Mapping	no

---

Object: 0x66f1 ezw_safety_word_scw_mapping_cw2
Object Code	Array
Description	This parameters shall indicate the configured mapping of the fields COM1 to COM8. The subindices shall point by means of index and sub-index to the commands to be mapped into the controlword. A value of 0000 0000h shall indicate a reserved entry, meaning this COM field shall be ignored.

Sub	0x00
Name	ezw_safety_word_scw_mapping_cw2
Data Type	UNSIGNED8
Access	ro
Defaultvalue	8
Low Limit	0
High Limit	8
PDO Mapping	no

Sub	0x01
Name	scw_cw_can_2_bit0
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x02
Name	scw_cw_can_2_bit1
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x03
Name	scw_cw_can_2_bit2
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x04
Name	scw_cw_can_2_bit3
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x05
Name	scw_cw_can_2_bit4
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x06
Name	scw_cw_can_2_bit5
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x07
Name	scw_cw_can_2_bit6
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x08
Name	scw_cw_can_2_bit7
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

---

Object: 0x66f2 ezw_safety_word_scw_mapping_cw3
Object Code	Array
Description	This parameters shall indicate the configured mapping of the fields COM1 to COM8. The subindices shall point by means of index and sub-index to the commands to be mapped into the controlword. A value of 0000 0000h shall indicate a reserved entry, meaning this COM field shall be ignored.

Sub	0x00
Name	ezw_safety_word_scw_mapping_cw3
Data Type	UNSIGNED8
Access	ro
Defaultvalue	8
Low Limit	0
High Limit	8
PDO Mapping	no

Sub	0x01
Name	scw_cw_can_3_bit0
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x02
Name	scw_cw_can_3_bit1
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x03
Name	scw_cw_can_3_bit2
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x04
Name	scw_cw_can_3_bit3
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x05
Name	scw_cw_can_3_bit4
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x06
Name	scw_cw_can_3_bit5
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x07
Name	scw_cw_can_3_bit6
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x08
Name	scw_cw_can_3_bit7
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

---

Object: 0x66f3 ezw_safety_word_scw_mapping_cw4
Object Code	Array
Description	This parameters shall indicate the configured mapping of the fields COM1 to COM8. The subindices shall point by means of index and sub-index to the commands to be mapped into the controlword. A value of 0000 0000h shall indicate a reserved entry, meaning this COM field shall be ignored.

Sub	0x00
Name	ezw_safety_word_scw_mapping_cw4
Data Type	UNSIGNED8
Access	ro
Defaultvalue	8
Low Limit	0
High Limit	8
PDO Mapping	no

Sub	0x01
Name	scw_cw_can_4_bit0
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x02
Name	scw_cw_can_4_bit1
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x03
Name	scw_cw_can_4_bit2
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x04
Name	scw_cw_can_4_bit3
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x05
Name	scw_cw_can_4_bit4
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x06
Name	scw_cw_can_4_bit5
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x07
Name	scw_cw_can_4_bit6
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x08
Name	scw_cw_can_4_bit7
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

---

Object: 0x66f4 ezw_safety_word_scw_mapping_cw5
Object Code	Array
Description	This parameters shall indicate the configured mapping of the fields COM1 to COM8. The subindices shall point by means of index and sub-index to the commands to be mapped into the controlword. A value of 0000 0000h shall indicate a reserved entry, meaning this COM field shall be ignored.

Sub	0x00
Name	ezw_safety_word_scw_mapping_cw5
Data Type	UNSIGNED8
Access	ro
Defaultvalue	8
Low Limit	0
High Limit	8
PDO Mapping	no

Sub	0x01
Name	scw_cw_can_5_bit0
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x02
Name	scw_cw_can_5_bit1
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x03
Name	scw_cw_can_5_bit2
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x04
Name	scw_cw_can_5_bit3
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x05
Name	scw_cw_can_5_bit4
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x06
Name	scw_cw_can_5_bit5
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x07
Name	scw_cw_can_5_bit6
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x08
Name	scw_cw_can_5_bit7
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

---

Object: 0x66f5 ezw_safety_word_scw_mapping_cw6
Object Code	Array
Description	This parameters shall indicate the configured mapping of the fields COM1 to COM8. The subindices shall point by means of index and sub-index to the commands to be mapped into the controlword. A value of 0000 0000h shall indicate a reserved entry, meaning this COM field shall be ignored.

Sub	0x00
Name	ezw_safety_word_scw_mapping_cw6
Data Type	UNSIGNED8
Access	ro
Defaultvalue	8
Low Limit	0
High Limit	8
PDO Mapping	no

Sub	0x01
Name	scw_cw_can_6_bit0
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x02
Name	scw_cw_can_6_bit1
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x03
Name	scw_cw_can_6_bit2
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x04
Name	scw_cw_can_6_bit3
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x05
Name	scw_cw_can_6_bit4
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x06
Name	scw_cw_can_6_bit5
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x07
Name	scw_cw_can_6_bit6
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x08
Name	scw_cw_can_6_bit7
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

---

Object: 0x66f6 ezw_safety_word_scw_mapping_cw7
Object Code	Array
Description	This parameters shall indicate the configured mapping of the fields COM1 to COM8. The subindices shall point by means of index and sub-index to the commands to be mapped into the controlword. A value of 0000 0000h shall indicate a reserved entry, meaning this COM field shall be ignored.

Sub	0x00
Name	ezw_safety_word_scw_mapping_cw7
Data Type	UNSIGNED8
Access	ro
Defaultvalue	8
Low Limit	0
High Limit	8
PDO Mapping	no

Sub	0x01
Name	scw_cw_can_7_bit0
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x02
Name	scw_cw_can_7_bit1
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x03
Name	scw_cw_can_7_bit2
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x04
Name	scw_cw_can_7_bit3
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x05
Name	scw_cw_can_7_bit4
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x06
Name	scw_cw_can_7_bit5
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x07
Name	scw_cw_can_7_bit6
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x08
Name	scw_cw_can_7_bit7
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

---

Object: 0x66f7 ezw_safety_word_scw_mapping_cw8
Object Code	Array
Description	This parameters shall indicate the configured mapping of the fields COM1 to COM8. The subindices shall point by means of index and sub-index to the commands to be mapped into the controlword. A value of 0000 0000h shall indicate a reserved entry, meaning this COM field shall be ignored.

Sub	0x00
Name	ezw_safety_word_scw_mapping_cw8
Data Type	UNSIGNED8
Access	ro
Defaultvalue	8
Low Limit	0
High Limit	8
PDO Mapping	no

Sub	0x01
Name	scw_cw_can_8_bit0
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x02
Name	scw_cw_can_8_bit1
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x03
Name	scw_cw_can_8_bit2
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x04
Name	scw_cw_can_8_bit3
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x05
Name	scw_cw_can_8_bit4
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x06
Name	scw_cw_can_8_bit5
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x07
Name	scw_cw_can_8_bit6
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x08
Name	scw_cw_can_8_bit7
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

---

Object: 0x66f8 ezw_safety_word_ssw_mapping_sw1
Object Code	Array
Description	This parameter shall indicate the configured mapping of the fields STA1 to STA8. The subindices shall point by means of index and sub-index to the safety status information to be mapped into the statusword. A value of 0000 0000h shall indicate a reserved entry, meaning this STA field is not used and has no meaning.

Sub	0x00
Name	ezw_safety_word_ssw_mapping_sw1
Data Type	UNSIGNED8
Access	ro
Defaultvalue	8
Low Limit	0
High Limit	8
PDO Mapping	no

Sub	0x01
Name	ssw_sw_can_1_bit0
Data Type	UNSIGNED32
Access	ro
Defaultvalue	0x66440000
Low Limit	0x66440000
High Limit	0x66440000
PDO Mapping	no

Sub	0x02
Name	ssw_sw_can_1_bit1
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x03
Name	ssw_sw_can_1_bit2
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x04
Name	ssw_sw_can_1_bit3
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x05
Name	ssw_sw_can_1_bit4
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x06
Name	ssw_sw_can_1_bit5
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x07
Name	ssw_sw_can_1_bit6
Data Type	UNSIGNED32
Access	ro
Defaultvalue	0x66310000
Low Limit	0x66310000
High Limit	0x66310000
PDO Mapping	no

Sub	0x08
Name	ssw_sw_can_1_bit7
Data Type	UNSIGNED32
Access	ro
Defaultvalue	0x66330000
Low Limit	0x66330000
High Limit	0x66330000
PDO Mapping	no

---

Object: 0x66f9 ezw_safety_word_ssw_mapping_sw2
Object Code	Array
Description	This parameters shall indicate the configured mapping of the fields STA1 to STA8. The subindices shall point by means of index and sub-index to the commands to be mapped into the statusword. A value of 0000 0000h shall indicate a reserved entry, meaning this STA field has no meaning. Figure 5 specifies the parameter structure.

Sub	0x00
Name	ezw_safety_word_ssw_mapping_sw2
Data Type	UNSIGNED8
Access	ro
Defaultvalue	8
Low Limit	0
High Limit	8
PDO Mapping	no

Sub	0x01
Name	ssw_sw_can_2_bit0
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x02
Name	ssw_sw_can_2_bit1
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x03
Name	ssw_sw_can_2_bit2
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x04
Name	ssw_sw_can_2_bit3
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x05
Name	ssw_sw_can_2_bit4
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x06
Name	ssw_sw_can_2_bit5
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x07
Name	ssw_sw_can_2_bit6
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x08
Name	ssw_sw_can_2_bit7
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

---

Object: 0x66fa ezw_safety_word_ssw_mapping_sw3
Object Code	Array
Description	This parameters shall indicate the configured mapping of the fields STA1 to STA8. The subindices shall point by means of index and sub-index to the commands to be mapped into the statusword. A value of 0000 0000h shall indicate a reserved entry, meaning this STA field has no meaning. Figure 5 specifies the parameter structure.

Sub	0x00
Name	ezw_safety_word_ssw_mapping_sw3
Data Type	UNSIGNED8
Access	ro
Defaultvalue	8
Low Limit	0
High Limit	8
PDO Mapping	no

Sub	0x01
Name	ssw_sw_can_3_bit0
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x02
Name	ssw_sw_can_3_bit1
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x03
Name	ssw_sw_can_3_bit2
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x04
Name	ssw_sw_can_3_bit3
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x05
Name	ssw_sw_can_3_bit4
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x06
Name	ssw_sw_can_3_bit5
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x07
Name	ssw_sw_can_3_bit6
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x08
Name	ssw_sw_can_3_bit7
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

---

Object: 0x66fb ezw_safety_word_ssw_mapping_sw4
Object Code	Array
Description	This parameters shall indicate the configured mapping of the fields STA1 to STA8. The subindices shall point by means of index and sub-index to the commands to be mapped into the statusword. A value of 0000 0000h shall indicate a reserved entry, meaning this STA field has no meaning. Figure 5 specifies the parameter structure.

Sub	0x00
Name	ezw_safety_word_ssw_mapping_sw4
Data Type	UNSIGNED8
Access	ro
Defaultvalue	8
Low Limit	0
High Limit	8
PDO Mapping	no

Sub	0x01
Name	ssw_sw_can_4_bit0
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x02
Name	ssw_sw_can_4_bit1
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x03
Name	ssw_sw_can_4_bit2
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x04
Name	ssw_sw_can_4_bit3
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x05
Name	ssw_sw_can_4_bit4
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x06
Name	ssw_sw_can_4_bit5
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x07
Name	ssw_sw_can_4_bit6
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x08
Name	ssw_sw_can_4_bit7
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

---

Object: 0x66fc ezw_safety_word_ssw_mapping_sw5
Object Code	Array
Description	This parameters shall indicate the configured mapping of the fields STA1 to STA8. The subindices shall point by means of index and sub-index to the commands to be mapped into the statusword. A value of 0000 0000h shall indicate a reserved entry, meaning this STA field has no meaning. Figure 5 specifies the parameter structure.

Sub	0x00
Name	ezw_safety_word_ssw_mapping_sw5
Data Type	UNSIGNED8
Access	ro
Defaultvalue	8
Low Limit	0
High Limit	8
PDO Mapping	no

Sub	0x01
Name	ssw_sw_can_5_bit0
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x02
Name	ssw_sw_can_5_bit1
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x03
Name	ssw_sw_can_5_bit2
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x04
Name	ssw_sw_can_5_bit3
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x05
Name	ssw_sw_can_5_bit4
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x06
Name	ssw_sw_can_5_bit5
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x07
Name	ssw_sw_can_5_bit6
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x08
Name	ssw_sw_can_5_bit7
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

---

Object: 0x66fd ezw_safety_word_ssw_mapping_sw6
Object Code	Array
Description	This parameters shall indicate the configured mapping of the fields STA1 to STA8. The subindices shall point by means of index and sub-index to the commands to be mapped into the statusword. A value of 0000 0000h shall indicate a reserved entry, meaning this STA field has no meaning. Figure 5 specifies the parameter structure.

Sub	0x00
Name	ezw_safety_word_ssw_mapping_sw6
Data Type	UNSIGNED8
Access	ro
Defaultvalue	8
Low Limit	0
High Limit	8
PDO Mapping	no

Sub	0x01
Name	ssw_sw_can_6_bit0
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x02
Name	ssw_sw_can_6_bit1
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x03
Name	ssw_sw_can_6_bit2
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x04
Name	ssw_sw_can_6_bit3
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x05
Name	ssw_sw_can_6_bit4
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x06
Name	ssw_sw_can_6_bit5
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x07
Name	ssw_sw_can_6_bit6
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x08
Name	ssw_sw_can_6_bit7
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

---

Object: 0x66fe ezw_safety_word_ssw_mapping_sw7
Object Code	Array
Description	This parameters shall indicate the configured mapping of the fields STA1 to STA8. The subindices shall point by means of index and sub-index to the commands to be mapped into the statusword. A value of 0000 0000h shall indicate a reserved entry, meaning this STA field has no meaning. Figure 5 specifies the parameter structure.

Sub	0x00
Name	ezw_safety_word_ssw_mapping_sw7
Data Type	UNSIGNED8
Access	ro
Defaultvalue	8
Low Limit	0
High Limit	8
PDO Mapping	no

Sub	0x01
Name	ssw_sw_can_7_bit0
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x02
Name	ssw_sw_can_7_bit1
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x03
Name	ssw_sw_can_7_bit2
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x04
Name	ssw_sw_can_7_bit3
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x05
Name	ssw_sw_can_7_bit4
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x06
Name	ssw_sw_can_7_bit5
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x07
Name	ssw_sw_can_7_bit6
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x08
Name	ssw_sw_can_7_bit7
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

---

Object: 0x66ff ezw_safety_word_ssw_mapping_sw8
Object Code	Array
Description	This parameters shall indicate the configured mapping of the fields STA1 to STA8. The subindices shall point by means of index and sub-index to the commands to be mapped into the statusword. A value of 0000 0000h shall indicate a reserved entry, meaning this STA field has no meaning. Figure 5 specifies the parameter structure.

Sub	0x00
Name	ezw_safety_word_ssw_mapping_sw8
Data Type	UNSIGNED8
Access	ro
Defaultvalue	8
Low Limit	0
High Limit	8
PDO Mapping	no

Sub	0x01
Name	ssw_sw_can_8_bit0
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x02
Name	ssw_sw_can_8_bit1
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x03
Name	ssw_sw_can_8_bit2
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x04
Name	ssw_sw_can_8_bit3
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x05
Name	ssw_sw_can_8_bit4
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x06
Name	ssw_sw_can_8_bit5
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x07
Name	ssw_sw_can_8_bit6
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

Sub	0x08
Name	ssw_sw_can_8_bit7
Data Type	UNSIGNED32
Access	rw
Defaultvalue	0
Low Limit	0
High Limit	4294967295
PDO Mapping	no

---

Object: 0x6800 Operating parameters
Object Code	Variable
Description	This object shall indicate the functions for code sequence, commissioning diagnostic control and scaling function control. Code sequence: The code sequence defines, whether increasing or decreasing position values are output, in case the encoder shaft rotates clockwise or counter clockwise as seen from the point of view of the shaft. Commissioning diagnostic control: With the commissioning diagnostic function it is possible to check the encoder components responsible for position detection at encoder stand still. Commissioning bit: The commissioning bit in the operating parameter initiates the commissioning diagnostic. If errors are detected it will be announced by the according alarm bits. Scaling function control: With the scaling function the encoder numerical value is converted in software to change the physical resolution of the encoder. The measuring units per revolution (object 6001h) and total measuring range in measuring units (object 6002h) are the scaling parameters. The scaling function bit is set in the operating parameters. If the scaling function bit is set to zero, the scaling function is disabled. Measuring direction: Moving away from the electrical connection (point of view shall be the mounting face) shall be regarded as forward direction.

Sub	0x00
Name	Operating parameters
Data Type	UNSIGNED16
Access	rw
Defaultvalue
Low Limit	0
High Limit	65535
PDO Mapping	no

---

Object: 0x6801 Measuring units per revolution
Object Code	Variable
Description	This object shall indicate the number of distinguishable steps per revolution.

Sub	0x00
Name	Measuring units per revolution
Data Type	UNSIGNED32
Access	rw
Defaultvalue
Low Limit	0
High Limit	4294967295
PDO Mapping	no

---

Object: 0x6802 Total measuring range in measuring units
Object Code	Variable
Description	This object shall indicate the number of distinguishable steps over the total measuring range.

Sub	0x00
Name	Total measuring range in measuring units
Data Type	UNSIGNED32
Access	rw
Defaultvalue
Low Limit	0
High Limit	4294967295
PDO Mapping	no

---

Object: 0x6803 Preset value
Object Code	Variable
Description	This object shall indicate the preset value for the output position value (object 6004h). This object supports adaptation of encoders zero point to the mechanical zero point of the system. For multi-sensor devices and linear sensors refer to object 6010h. The output position value shall be set to the preset value and the offset from the position value shall be calculated and stored in the encoder.

Sub	0x00
Name	Preset value
Data Type	UNSIGNED32
Access	rw
Defaultvalue
Low Limit	0
High Limit	4294967295
PDO Mapping	no

---

Object: 0x6810 Preset values for multi sensor devices
Object Code	Array
Description	This object is similar to object 6003h and shall indicate the preset values for the output position values for multi-sensor devices (object 6020h). In sub-index 00h the number of supported channels is defined. The Preset function supports adaptation of the encoders zero point to the mechanical zero point of the system. The output position values in the sub-indices of object 6020h are set to the sub-indices of the parameter „Preset value“ in object 6010h, accordingly. The offset from the position value shall be calculated and stored in the encoder. This object is only mandatory for multi-sensor encoders (object 1000h encoder type: code 10d).

Sub	0x00
Name	Highest sub-index supported
Data Type	UNSIGNED8
Access	ro
Defaultvalue	4
Low Limit	1
High Limit	254
PDO Mapping	no

Sub	0x01
Name	Preset value channel 1
Data Type	INTEGER32
Access	rw
Defaultvalue
Low Limit	-2147483648
High Limit	2147483647
PDO Mapping	no

Sub	0x02
Name	Preset value channel 2
Data Type	INTEGER32
Access	rw
Defaultvalue
Low Limit	-2147483648
High Limit	2147483647
PDO Mapping	no

Sub	0x03
Name	Preset value channel 3
Data Type	INTEGER32
Access	rw
Defaultvalue
Low Limit	-2147483648
High Limit	2147483647
PDO Mapping	no

Sub	0x04
Name	Preset value channel 4
Data Type	INTEGER32
Access	rw
Defaultvalue
Low Limit	-2147483648
High Limit	2147483647
PDO Mapping	no

---

Object: 0x6820 Position values for multi sensor devices
Object Code	Array
Description	Similar to object 6004h this object shall indicate the output position value(s) for the communication objects 1800h (TPDO 1) and 1801h (TPDO 2). This object is only mandatory for multi-sensor encoders (object 1000h encoder type: code 10d).

Sub	0x00
Name	Highest sub-index supported
Data Type	UNSIGNED8
Access	ro
Defaultvalue	4
Low Limit	1
High Limit	254
PDO Mapping	no

Sub	0x01
Name	Position value channel 1
Data Type	INTEGER32
Access	rw
Defaultvalue
Low Limit	-2147483648
High Limit	2147483647
PDO Mapping	no

Sub	0x02
Name	Position value channel 2
Data Type	INTEGER32
Access	rw
Defaultvalue
Low Limit	-2147483648
High Limit	2147483647
PDO Mapping	no

Sub	0x03
Name	Position value channel 3
Data Type	INTEGER32
Access	rw
Defaultvalue
Low Limit	-2147483648
High Limit	2147483647
PDO Mapping	no

Sub	0x04
Name	Position value channel 4
Data Type	INTEGER32
Access	rw
Defaultvalue
Low Limit	-2147483648
High Limit	2147483647
PDO Mapping	no

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Object: 0x6830 Speed value
Object Code	Array
Description	This object shall provide the output speed value(s). For linear encoders the speed-measuring step is defined in object 6005h, sub-index 02h. The speed value for rotary encoders shall be given in multiples of measuring units per second. This object is only mandatory for multisensor encoders (object 1000h encoder type: code 10d).

Sub	0x00
Name	Highest sub index supported
Data Type	UNSIGNED8
Access	ro
Defaultvalue	4
Low Limit	1
High Limit	254
PDO Mapping	no

Sub	0x01
Name	Speed value channel 1
Data Type	INTEGER16
Access	ro
Defaultvalue
Low Limit	-32768
High Limit	32767
PDO Mapping	optional

Sub	0x02
Name	Speed value channel 2
Data Type	INTEGER16
Access	ro
Defaultvalue
Low Limit	-32768
High Limit	32767
PDO Mapping	optional

Sub	0x03
Name	Speed value channel 3
Data Type	INTEGER16
Access	ro
Defaultvalue
Low Limit	-32768
High Limit	32767
PDO Mapping	optional

Sub	0x04
Name	Speed value channel 4
Data Type	INTEGER16
Access	ro
Defaultvalue
Low Limit	-32768
High Limit	32767
PDO Mapping	optional

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